test fix

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

@@ -628,14 +628,17 @@ async def tip_action(
  distance: Optional[float] = None,
  velocity: Optional[float] = None,
  tip_action: str = "home",
+ back_off: Optional[bool] = False,
  ) -> None:
  move_group = []
  if moves is not None:
  move_group = create_tip_action_group(
  moves, [NodeId.pipette_left], tip_action
  )
  elif distance is not None and velocity is not None:
- move_group = create_gear_motor_home_group(float(distance), float(velocity))
+ move_group = create_gear_motor_home_group(
+ float(distance), float(velocity), back_off
+ )
  runner = MoveGroupRunner(
  move_groups=[move_group],
  ignore_stalls=True if not ff.stall_detection_enabled() else False,

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -393,6 +393,7 @@ async def tip_action(
  distance: Optional[float] = None,
  velocity: Optional[float] = None,
  tip_action: str = "home",
+ back_off: Optional[bool] = False,
  ) -> None:
  pass
 

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -1,5 +1,5 @@
 """Shared utilities for ot3 hardware control."""
-from typing import Dict, Iterable, List, Set, Tuple, TypeVar, cast
+from typing import Dict, Iterable, List, Set, Tuple, TypeVar, cast, Sequence, Optional
 from typing_extensions import Literal
 from logging import getLogger
 from opentrons.config.defaults_ot3 import DEFAULT_CALIBRATION_AXIS_MAX_SPEED
@@ -56,8 +56,6 @@
 )
 from opentrons_hardware.hardware_control.constants import interrupts_per_sec
 
-from opentrons_hardware.hardware_control.constants import interrupts_per_sec
-
 GRIPPER_JAW_HOME_TIME: float = 10
 GRIPPER_JAW_GRIP_TIME: float = 10
 
@@ -378,29 +376,8 @@ def create_home_groups(
  return [home_group, backoff_group]
 
 
-def create_tip_action_home_group(
- axes: Sequence[Axis], distance: float, velocity: float
-) -> List[MoveGroup]:
- current_nodes = [axis_to_node(ax) for ax in axes]
- home_group = [
- create_tip_action_step(
- velocity={node_id: np.float64(velocity) for node_id in current_nodes},
- distance={node_id: np.float64(distance) for node_id in current_nodes},
- present_nodes=current_nodes,
- action=PipetteTipActionType.home,
- )
- ]
-
- backoff_group = [
- create_tip_action_backoff_step(
- velocity={node_id: np.float64(velocity / 2) for node_id in current_nodes}
- )
- ]
- return [home_group, backoff_group]
-
-
 def create_tip_action_group(
- moves: List[Move[Axis]],
+ moves: Sequence[Move[Axis]],
  present_nodes: Iterable[NodeId],
  action: str,
 ) -> MoveGroup:
@@ -426,15 +403,26 @@ def create_tip_action_group(
 def create_gear_motor_home_group(
  distance: float,
  velocity: float,
+ backoff: Optional[bool] = False,
 ) -> MoveGroup:
- step = create_tip_action_step(
+ move_group: MoveGroup = []
+ home_step = create_tip_action_step(
  velocity={NodeId.pipette_left: np.float64(-1 * velocity)},
  acceleration={NodeId.pipette_left: np.float64(0)},
  duration=np.float64(distance / velocity),
  present_nodes=[NodeId.pipette_left],
  action=PipetteTipActionType.home,
  )
- return [step]
+ move_group.append(home_step)
+
+ if backoff:
+ backoff_group = create_tip_action_backoff_step(
+ velocity={
+ node_id: np.float64(velocity / 2) for node_id in [NodeId.pipette_left]
+ }
+ )
+ move_group.append(backoff_group)
+ return move_group
 
 
 def create_gripper_jaw_grip_group(

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -694,18 +694,21 @@ async def test_tip_action(
 
  mock_move_group_run.reset_mock()
 
- await controller.tip_action(distance=33, velocity=-5.5, tip_action="home")
+ await controller.tip_action(
+ distance=33, velocity=-5.5, tip_action="home", back_off=True
+ )
  for call in mock_move_group_run.call_args_list:
  move_group_runner = call[0][0]
- for move_group in move_group_runner._move_groups:
+ move_groups = move_group_runner._move_groups
+
+ for move_group in move_groups:
  assert move_group # don't pass in empty groups
- assert len(move_group) == 1
+ assert len(move_group) >= 1
 
- move_groups = move_group_runner._move_groups
  # we should be sending this command to the pipette axes to process.
  home_step = move_groups[0][0][NodeId.pipette_left]
  assert home_step.stop_condition == MoveStopCondition.limit_switch
- backoff_step = move_groups[1][0][NodeId.pipette_left]
+ backoff_step = move_groups[0][1][NodeId.pipette_left]
  assert backoff_step.stop_condition == MoveStopCondition.limit_switch_backoff
 
 

api/tests/opentrons/hardware_control/backends/test_ot3_utils.py

@@ -54,7 +54,7 @@ def test_filter_zero_duration_step() -> None:
  moves=moves,
  present_nodes=present_nodes,
  )
- assert len(move_group) == 2
+ assert len(move_group) == 3
  for step in move_group:
  assert set(present_nodes) == set(step.keys())
 

hardware/opentrons_hardware/hardware_control/motion.py

@@ -179,6 +179,7 @@ def create_tip_action_backoff_step(velocity: Dict[NodeId, np.float64]) -> MoveGr
  duration_sec=abs(np.float64(BACKOFF_MAX_MM) / abs(v)),
  stop_condition=MoveStopCondition.limit_switch_backoff,
  action=PipetteTipActionType.home,
+ acceleration_mm_sec_sq=np.float64(0),
  )
  return backoff