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feat(hardware): add acceleration to pick up tip for 96 channel #12944
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Original file line number | Diff line number | Diff line change |
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@@ -227,11 +227,11 @@ class MoveCompletedPayload(MoveGroupResponsePayload): | |
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@dataclass(eq=False) | ||
class GearMotorPositionResponse(EmptyPayload): | ||
"""Read Gear Motor Position Estimation.""" | ||
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current_position: utils.UInt32Field | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. We can still have position flags here imo, it would just be related to boot-up only. |
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@dataclass(eq=False) | ||
class MotorPositionResponse(EmptyPayload): | ||
"""Read Encoder Position.""" | ||
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Original file line number | Diff line number | Diff line change |
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@@ -173,20 +173,20 @@ async def update_gear_motor_position_estimation( | |
""" | ||
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def _listener_filter(arbitration_id: ArbitrationId) -> bool: | ||
return (NodeId(arbitration_id.parts.originating_node_id) in {NodeId.pipette_left}) and ( | ||
return ( | ||
NodeId(arbitration_id.parts.originating_node_id) in {NodeId.pipette_left} | ||
) and ( | ||
MessageId(arbitration_id.parts.message_id) | ||
== UpdateGearMotorPositionEstimationResponse.message_id | ||
) | ||
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data = [] | ||
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# for node in nodes: | ||
with WaitableCallback(can_messenger, _listener_filter) as reader: | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. You can use There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Bump on this comment. |
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await can_messenger.send( | ||
node_id=NodeId.pipette_left, | ||
message=UpdateGearMotorPositionEstimationRequest(), | ||
) | ||
print(f"SENT GEAR MOTOR ESTIMATION REQUEST") | ||
try: | ||
for i in range(2): | ||
response = await asyncio.wait_for( | ||
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@@ -215,7 +215,6 @@ async def _parser_update_gear_motor_position_response( | |
reader: WaitableCallback, expected: NodeId | ||
) -> Tuple[float, bool]: | ||
async for response, arb_id in reader: | ||
print(f"\nGOT RESPONSE {response}\n") | ||
assert isinstance(response, UpdateGearMotorPositionEstimationResponse) | ||
node = NodeId(arb_id.parts.originating_node_id) | ||
if node == expected: | ||
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we should pass moves into the backend tip action