refactor(hardware control): start liquid probe 2mm higher, refactor z moves #15564
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Codecov ReportAll modified and coverable lines are covered by tests ✅
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## edge #15564 +/- ##
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+ Coverage 60.43% 92.43% +32.00%
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Files 154 77 -77
Lines 12119 1283 -10836
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- Hits 7324 1186 -6138
+ Misses 4795 97 -4698
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A PR has been opened to address analyses snapshot changes. Please review the changes here: #15565 |
FYI this change is in edge so if you merge in edge this test will pass 😊 |
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| if probe_settings.aspirate_while_sensing: | ||
| await self._move_to_plunger_bottom(checked_mount, rate=1.0) | ||
| await self._move_to_plunger_bottom(checked_mount, rate=p_prep_speed) |
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do we still need this switch to flip? would it actually work if we flipped it at this point?
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Should still work, don't know if we want the ability to use it in the future or not
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can we add a TODO to remove it at some point
hardware/tests/opentrons_hardware/hardware_control/test_tool_sensors.py
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| if probe_settings.aspirate_while_sensing: | ||
| await self._move_to_plunger_bottom(checked_mount, rate=1.0) | ||
| await self._move_to_plunger_bottom(checked_mount, rate=p_prep_speed) |
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can we add a TODO to remove it at some point
… moves (#15564) Refactors liquid_probe- z distances for each pass are now calculated using appropriate plunger distance for the given pipette model/tip combination
Overview
Quick refactor for liquid probe. This just breaks up the main function a little bit in
ot3apito keep readability, and takes moves that aren't directly related to the liquid probing movement out oftool_sensorsto keep that modular.Changelog
tool_sensors, and move it to ot3apiliquid_settings.probe_start_position, move 2mm up from wherever the pipette is at the time of the call