fix(api): pass the calibrated jaw max offset value when we resetting instrument #15032
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sfoster1
requested changes
Apr 26, 2024
vegano1
reviewed
Apr 26, 2024
| @@ -330,6 +331,9 @@ def _reload_gripper( | |||
| new_config, | |||
| cal_offset, | |||
| attached_instr._gripper_id, | |||
| attached_instr._jaw_max_offset | |||
| if attached_instr.has_jaw_width_calibration | |||
There was a problem hiding this comment.
has_jaw_width_calibration just checks if _jaw_max_offset is not None
so we can just pass in _jaw_max_offset directly without checking.
vegano1
reviewed
Apr 26, 2024
| @@ -51,6 +51,9 @@ def reset_gripper(self) -> None: | |||
| og_gripper.config, | |||
| load_gripper_calibration_offset(og_gripper.gripper_id), | |||
| og_gripper.gripper_id, | |||
| og_gripper._jaw_max_offset | |||
| if og_gripper.has_jaw_width_calibration | |||
Carlos-fernandez
pushed a commit
that referenced
this pull request
May 20, 2024
…instrument (#15032) <!-- 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 really only need to calibrate the gripper's max jaw offset once every time we attach a new gripper. This means that when we call `ot3api.reset()`, which is pretty often because it's called by `ot3api.stop()`, we should just reuse the calibrated value so we don't see the jaw opening and closing all the time.
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Overview
We really only need to calibrate the gripper's max jaw offset once every time we attach a new gripper. This means that when we call
ot3api.reset(), which is pretty often because it's called byot3api.stop(), we should just reuse the calibrated value so we don't see the jaw opening and closing all the time.