fix(api): engage axis to enable the motor before attempting to move the axis. #14955
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There seems to be some issue on the firmware where the motor is enabled but does not seem to actually get enabled, causing the axis we are attempting to move to error with finished movement with condition not met. The firmware should be enabling the motor and if we query the motor enable status with get_status_request = 0x01 we get the correct response where the motor is enabled. For whatever reason sending an explicit enable_motor_request = 0x06 before moving the axis fixes the problem.
sfoster1
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Apr 19, 2024
ahiuchingau
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Apr 22, 2024
…s attached (#14975) <!-- Thanks for taking the time to open a pull request! Please make sure you've read the "Opening Pull Requests" section of our Contributing Guide: https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests To ensure your code is reviewed quickly and thoroughly, please fill out the sections below to the best of your ability! --> # Overview We now [unconditionally home the axis](#14955) before performing the homing move so we can now remove this patch. If we leave this in, the head R is going to raise an error when the robot boots up the first time because it will not be able to update the position estimation. <!-- Use this section to describe your pull-request at a high level. If the PR addresses any open issues, please tag the issues here. --> # Test Plan <!-- Use this section to describe the steps that you took to test your Pull Request. If you did not perform any testing provide justification why. OT-3 Developers: You should default to testing on actual physical hardware. Once again, if you did not perform testing against hardware, justify why. Note: It can be helpful to write a test plan before doing development Example Test Plan (HTTP API Change) - Verified that new optional argument `dance-party` causes the robot to flash its lights, move the pipettes, then home. - Verified that when you omit the `dance-party` option the robot homes normally - Added protocol that uses `dance-party` argument to G-Code Testing Suite - Ran protocol that did not use `dance-party` argument and everything was successful - Added unit tests to validate that changes to pydantic model are correct --> # Changelog <!-- List out the changes to the code in this PR. Please try your best to categorize your changes and describe what has changed and why. Example changelog: - Fixed app crash when trying to calibrate an illegal pipette - Added state to API to track pipette usage - Updated API docs to mention only two pipettes are supported IMPORTANT: MAKE SURE ANY BREAKING CHANGES ARE PROPERLY COMMUNICATED --> # Review requests <!-- Describe any requests for your reviewers here. --> # Risk assessment <!-- Carefully go over your pull request and look at the other parts of the codebase it may affect. Look for the possibility, even if you think it's small, that your change may affect some other part of the system - for instance, changing return tip behavior in protocol may also change the behavior of labware calibration. Identify the other parts of the system your codebase may affect, so that in addition to your own review and testing, other people who may not have the system internalized as much as you can focus their attention and testing there. -->
Carlos-fernandez
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May 20, 2024
…he axis. (#14955) There seems to be some issue on the firmware where the motor is enabled but does not seem to get enabled, causing the axis we are attempting to move to throw a `finished movement with a condition not met` error. The firmware should be enabling the motor, and if we query the motor enable status with get_status_request = 0x01 we get the correct response where the motor is enabled. For whatever reason sending an explicit enable_motor_request = 0x06 before moving the axis fixes the problem. --------- Co-authored-by: ahiuchingau <[email protected]>
Carlos-fernandez
pushed a commit
that referenced
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May 20, 2024
…s attached (#14975) <!-- Thanks for taking the time to open a pull request! Please make sure you've read the "Opening Pull Requests" section of our Contributing Guide: https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests To ensure your code is reviewed quickly and thoroughly, please fill out the sections below to the best of your ability! --> # Overview We now [unconditionally home the axis](#14955) before performing the homing move so we can now remove this patch. If we leave this in, the head R is going to raise an error when the robot boots up the first time because it will not be able to update the position estimation. <!-- Use this section to describe your pull-request at a high level. If the PR addresses any open issues, please tag the issues here. --> # Test Plan <!-- Use this section to describe the steps that you took to test your Pull Request. If you did not perform any testing provide justification why. OT-3 Developers: You should default to testing on actual physical hardware. Once again, if you did not perform testing against hardware, justify why. Note: It can be helpful to write a test plan before doing development Example Test Plan (HTTP API Change) - Verified that new optional argument `dance-party` causes the robot to flash its lights, move the pipettes, then home. - Verified that when you omit the `dance-party` option the robot homes normally - Added protocol that uses `dance-party` argument to G-Code Testing Suite - Ran protocol that did not use `dance-party` argument and everything was successful - Added unit tests to validate that changes to pydantic model are correct --> # Changelog <!-- List out the changes to the code in this PR. Please try your best to categorize your changes and describe what has changed and why. Example changelog: - Fixed app crash when trying to calibrate an illegal pipette - Added state to API to track pipette usage - Updated API docs to mention only two pipettes are supported IMPORTANT: MAKE SURE ANY BREAKING CHANGES ARE PROPERLY COMMUNICATED --> # Review requests <!-- Describe any requests for your reviewers here. --> # Risk assessment <!-- Carefully go over your pull request and look at the other parts of the codebase it may affect. Look for the possibility, even if you think it's small, that your change may affect some other part of the system - for instance, changing return tip behavior in protocol may also change the behavior of labware calibration. Identify the other parts of the system your codebase may affect, so that in addition to your own review and testing, other people who may not have the system internalized as much as you can focus their attention and testing there. -->
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Overview
There seems to be some issue on the firmware where the motor is enabled but does not seem to get enabled, causing the axis we are attempting to move to throw a
finished movement with a condition not meterror. The firmware should be enabling the motor, and if we query the motor enable status with get_status_request = 0x01 we get the correct response where the motor is enabled. For whatever reason sending an explicit enable_motor_request = 0x06 before moving the axis fixes the problem.Closes: RQA-2591
Test Plan
movement not metonce the flow is done.Changelog
homeandretract_axisReview requests
Risk assessment
Med, needs testing so we understand all the implications.