changed helpers_ot3 function

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -653,6 +653,7 @@ async def tip_action(
  self._gear_motor_position = {
  NodeId.pipette_left: positions[NodeId.pipette_left][0]
  }
+ print(f"setting gear motor position to {positions[NodeId.pipette_left][0]}")
 
  @requires_update
  async def gripper_grip_jaw(

api/src/opentrons/hardware_control/ot3api.py

@@ -730,7 +730,6 @@ async def home_z(
  axes = list(Axis.ot3_mount_axes())
  await self.home(axes)
 
-
  async def home_gripper_jaw(self) -> None:
  """
  Home the jaw of the gripper.
@@ -898,7 +897,9 @@ def _effector_pos_from_carriage_pos(
  plunger_ax: carriage_position[plunger_ax],
  }
  if self._gantry_load == GantryLoad.HIGH_THROUGHPUT:
- effector_pos[Axis.Q] = self._backend.gear_motor_position
+ effector_pos[Axis.Q] = axis_convert(self._backend.gear_motor_position, 0.0)[
+ Axis.P_L
+ ]
 
  return effector_pos
 
@@ -1691,18 +1692,29 @@ async def _motor_pick_up_tip(
  pipette_axis
  ]
  gear_origin_dict = {Axis.Q: gear_origin_float}
- gear_origin_dict = {Axis.Q: gear_origin_float}
  clamp_move_target = pipette_spec.pick_up_distance
  gear_target_dict = {Axis.Q: clamp_move_target}
  clamp_moves = self._build_moves(gear_origin_dict, gear_target_dict)
  await self._backend.tip_action(moves=clamp_moves[0], tip_action="clamp")
 
- homing_velocity = self._config.motion_settings.default_max_speed[
+ homing_velocity = self._config.motion_settings.max_speed_discontinuity[
  GantryLoad.HIGH_THROUGHPUT
  ][OT3AxisKind.Q]
- q_axis_distance = axis_convert(self._backend.gear_motor_position, 0.0)[Axis.P_L]
+
+ gear_pos_float = gear_start_position = axis_convert(
+ self._backend.gear_motor_position, 0.0
+ )[Axis.P_L]
+ gear_pos_dict = {Axis.Q: gear_pos_float}
+ fast_home_target = {Axis.Q: self._config.safe_home_distance}
+
+ fast_home_moves = self._build_moves(gear_pos_dict, fast_home_target)
+ # move toward home until a safe distance
+ await self._backend.tip_action(
+ moves=fast_home_moves[0], tip_action="clamp"
+ )
+ # move the rest of the way home with no acceleration
  await self._backend.tip_action(
- distance=(pipette_spec.pick_up_distance + pipette_spec.home_buffer),
+ distance=(self._config.safe_home_distance + pipette_spec.home_buffer),
  velocity=homing_velocity,
  tip_action="home",
  )
@@ -1786,13 +1798,24 @@ async def drop_tip(
 
  await self._backend.tip_action(moves=drop_moves[0], tip_action="clamp")
 
- homing_velocity = self._config.motion_settings.default_max_speed[
+ homing_velocity = self._config.motion_settings.max_speed_discontinuity[
  GantryLoad.HIGH_THROUGHPUT
  ][OT3AxisKind.Q]
- pipette_axis = Axis.of_main_tool_actuator(mount)
- q_axis_distance = axis_convert(self._backend.gear_motor_position, 0.0)[pipette_axis]
+
+ gear_pos_float = gear_start_position = axis_convert(
+ self._backend.gear_motor_position, 0.0
+ )[Axis.P_L]
+ gear_pos_dict = {Axis.Q: gear_pos_float}
+ fast_home_target = {Axis.Q: self._config.safe_home_distance}
+
+ fast_home_moves = self._build_moves(gear_pos_dict, fast_home_target)
+ # move toward home until a safe distance
+ await self._backend.tip_action(
+ moves=fast_home_moves[0], tip_action="clamp"
+ )
+ # move the rest of the way home with no acceleration
  await self._backend.tip_action(
- distance=(move.target_position + move.home_buffer),
+ distance=(self._config.safe_home_distance + move.home_buffer),
  velocity=homing_velocity,
  tip_action="home",
  )

hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py

@@ -2,7 +2,7 @@
 import asyncio
 from dataclasses import dataclass
 from datetime import datetime
-from math import pi
+from math import pi, copysign
 from subprocess import run
 from time import time
 from typing import Callable, Coroutine, Dict, List, Optional, Tuple, Union
@@ -450,22 +450,13 @@ async def move_tip_motor_relative_ot3(
  target_pos = current_pos.copy()
  target_pos[Axis.Q] += distance
 
- if distance < 0:
- speed *= -1
+ speed = copysign(speed, distance)
 
- tip_motor_move = api._build_moves(current_pos, target_pos)
- await api._backend.tip_action(moves=tip_motor_move[0], tip_action="clamp")
+ tip_motor_move = api._build_moves(current_pos, target_pos, speed)
 
- if distance < 0:
- # change this so that it calls _build_moves, and passes in a speed
- action = "home"
- else:
- action = "clamp"
  _move_coro = api._backend.tip_action(
- axes=[Axis.Q],
- distance=distance,
- speed=speed if speed else 5,
- tip_action=action,
+ moves=tip_motor_move[0],
+ tip_action="clamp",
  )
  if motor_current is None:
  await _move_coro

hardware/opentrons_hardware/hardware_control/motor_position_status.py

@@ -185,9 +185,9 @@ def _listener_filter(arbitration_id: ArbitrationId) -> bool:
  data = []
 
  with MultipleMessagesWaitableCallback(
-  can_messenger,
-  _listener_filter,
-  2,
+ can_messenger,
+ _listener_filter,
+ 2,
  ) as reader:
  await can_messenger.send(
  node_id=NodeId.pipette_left,

hardware/opentrons_hardware/hardware_control/move_group_runner.py

@@ -175,13 +175,7 @@ def _accumulate_move_completions(
  ] = defaultdict(list)
  for arbid, completion in completions:
  if isinstance(completion, TipActionResponse):
- continue
- position[NodeId(arbid.parts.originating_node_id)].append(
- (
- (
- completion.payload.group_id.value,
- completion.payload.seq_id.value,
- ),
+ gear_position_response = (
  float(completion.payload.current_position_um.value) / 1000.0,
  float(completion.payload.encoder_position_um.value) / 1000.0,
  bool(
@@ -193,7 +187,28 @@ def _accumulate_move_completions(
  & MotorPositionFlags.encoder_position_ok.value
  ),
  )
- )
+ return {
+ arbid.parts.originating_node_id: gear_position_response
+ }
+ else:
+ position[NodeId(arbid.parts.originating_node_id)].append(
+ (
+ (
+ completion.payload.group_id.value,
+ completion.payload.seq_id.value,
+ ),
+ float(completion.payload.current_position_um.value) / 1000.0,
+ float(completion.payload.encoder_position_um.value) / 1000.0,
+ bool(
+ completion.payload.position_flags.value
+ & MotorPositionFlags.stepper_position_ok.value
+ ),
+ bool(
+ completion.payload.position_flags.value
+ & MotorPositionFlags.encoder_position_ok.value
+ ),
+ )
+ )
  # for each node, pull the position from the completion with the largest
  # combination of group id and sequence id
  return {

hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py

@@ -113,8 +113,10 @@ def move_group_single() -> MoveGroups:
  ]
  ]
 
+
 @pytest.fixture
 def move_group_tip_action_single() -> MoveGroups:
+ """Move group with one move."""
  return [
  [
  {
@@ -123,7 +125,7 @@ def move_group_tip_action_single() -> MoveGroups:
  duration_sec=float64(1),
  action=PipetteTipActionType.home,
  stop_condition=MoveStopCondition.none,
- acceleration_mm_sec_sq=0,
+ acceleration_mm_sec_sq=float64(0),
  )
  }
  ]
@@ -132,7 +134,7 @@ def move_group_tip_action_single() -> MoveGroups:
 
 @pytest.fixture
 def move_group_tip_action_multiple() -> MoveGroups:
- """Move group with one move."""
+ """Move group with multiple moves."""
  return [
  [
  {
@@ -141,16 +143,16 @@ def move_group_tip_action_multiple() -> MoveGroups:
  duration_sec=float64(1),
  action=PipetteTipActionType.clamp,
  stop_condition=MoveStopCondition.none,
- acceleration_mm_sec_sq=1,
+ acceleration_mm_sec_sq=float64(1),
  )
  },
  {
  NodeId.pipette_left: MoveGroupTipActionStep(
- velocity_mm_sec=float64(3),
+ velocity_mm_sec=float64(2),
  duration_sec=float64(1),
  action=PipetteTipActionType.clamp,
  stop_condition=MoveStopCondition.none,
- acceleration_mm_sec_sq=0,
+ acceleration_mm_sec_sq=float64(1),
  )
  },
  {
@@ -159,9 +161,9 @@ def move_group_tip_action_multiple() -> MoveGroups:
  duration_sec=float64(1),
  action=PipetteTipActionType.clamp,
  stop_condition=MoveStopCondition.none,
- acceleration_mm_sec_sq=-1,
+ acceleration_mm_sec_sq=float64(1),
  )
- }
+ },
  ]
  ]
 
@@ -810,10 +812,10 @@ async def test_home_timeout(
  [
  "move_group_tip_action_single",
  "move_group_tip_action_multiple",
- ]
+ ],
 )
 async def test_tip_action_move_runner_receives_two_responses(
- mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups, request
+ mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups, request: Any
 ) -> None:
  """The magic call function should receive two responses for a tip action."""
  with patch.object(MoveScheduler, "_handle_move_completed") as mock_move_complete:
@@ -837,10 +839,10 @@ async def test_tip_action_move_runner_receives_two_responses(
  [
  "move_group_tip_action_single",
  "move_group_tip_action_multiple",
- ]
+ ],
 )
 async def test_tip_action_move_runner_position_updated(
- mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups, request
+ mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups, request: Any
 ) -> None:
  """Two responses from a tip action move are properly handled."""
  move_group_tip_action = request.getfixturevalue(move_group_tip_action)
@@ -850,18 +852,22 @@ async def test_tip_action_move_runner_position_updated(
  mock_can_messenger.send.side_effect = mock_sender.mock_send
  completion_message = await subject.run(can_messenger=mock_can_messenger)
  assert len(completion_message) == len(move_group_tip_action[0])
- # assert completion_message[0][1].payload.current_position_um.value == 2000
+ for i in range(len(completion_message)):
+ assert completion_message[i][1].payload.current_position_um.value == 2000
 
 
 @pytest.mark.parametrize(
  "move_group_tip_action",
  [
  "move_group_tip_action_single",
  "move_group_tip_action_multiple",
- ]
+ ],
 )
 async def test_tip_action_move_runner_fail_receives_one_response(
- mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups, caplog: Any, request
+ mock_can_messenger: AsyncMock,
+ move_group_tip_action: MoveGroups,
+ caplog: Any,
+ request: Any,
 ) -> None:
  """Tip action move should fail if one or less responses received."""
  move_group_tip_action = request.getfixturevalue(move_group_tip_action)
@@ -1117,7 +1123,7 @@ def _build_arb(from_node: NodeId) -> ArbitrationId:
  ),
  ),
  ],
- {},
+ {NodeId.pipette_left: (10, 0, False, False)},
  ),
  (
  # empty base case
@@ -1131,6 +1137,8 @@ def test_accumulate_move_completions(
  position_map: NodeMap[Tuple[float, float, bool, bool]],
 ) -> None:
  """Build correct move results."""
+ # assert MoveGroupRunner._accumulate_move_completions(completions) == position_map
+ c = MoveGroupRunner._accumulate_move_completions(completions)
  assert MoveGroupRunner._accumulate_move_completions(completions) == position_map
 
 

shared-data/python/opentrons_shared_data/pipette/pipette_load_name_conversions.py

@@ -221,7 +221,6 @@ def convert_pipette_model(
  # to attached pipettes.
  # We need to figure out how to default the pipette model as well
  # rather than returning a p1000
- breakpoint()
  if model and not provided_version:
  pipette_type, parsed_channels, parsed_version = model.split("_")
  channels = channels_from_string(parsed_channels)