feat(hardware): Implement moving baseline readings for sensor-move #15494
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… lets us delay a litte and see the pressure settle after movement stops
sfoster1
approved these changes
Jun 24, 2024
| @@ -173,6 +173,20 @@ async def run_sync_buffer_to_csv( | |||
| """Runs the sensor pass move group and creates a csv file with the results.""" | |||
| sensor_metadata = [0, 0, mount_speed, plunger_speed, threshold] | |||
| positions = await move_group.run(can_messenger=messenger) | |||
| # wait a little to see the dropoff curve | |||
| await asyncio.sleep(0.15) | |||
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let's make this a passed-in configuration value please. also if this timing is critical we really should not be ensuring it in python in linux userspace with an asyncio sleep, those times are not guaranteed at all. could have a request_data_after_delay can message or something
| self.event.clear() | ||
| self.expected_ack = message_index | ||
| start = time.time() | ||
| while True: |
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Suggested change
| while True: | |
| try: | |
| await asyncio.wait_for(event.wait(), wait_time) | |
| except asyncio.TimeoutError: | |
| pass | |
| self.event.clear() |
?
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## edge #15494 +/- ##
==========================================
- Coverage 60.43% 55.65% -4.78%
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Files 154 113 -41
Lines 12119 9334 -2785
==========================================
- Hits 7324 5195 -2129
+ Misses 4795 4139 -656
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Overview
We are changing the pressure sensor timing during moves so that we can baseline the pressure value as the plunger is in motion, this lets us account for variations in tips more accurately. We also added a delay in turning off the pressure sensor readings after movement has finished so that we can attempt to tell better if we have hit liquid or labware bottom
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