Api direct movements within well

[andySigler]

overview

When a pipette.move_to() is called on the same well as before, it will run a 'direct' path instead of an 'arc' path, so that there are no pointless up-and-down motions when performing multiple commands within the same well.

[codecov]

Codecov Report

Merging #839 into v3a will increase coverage by 0.06%.
The diff coverage is 100%.

@@            Coverage Diff             @@
##              v3a     #839      +/-   ##
==========================================
+ Coverage   69.05%   69.12%   +0.06%     
==========================================
  Files         224      224              
  Lines        6868     6879      +11     
  Branches      278      278              
==========================================
+ Hits         4743     4755      +12     
+ Misses       2043     2042       -1     
  Partials       82       82

Impacted Files	Coverage Δ
api/opentrons/instruments/pipette.py	96.37% <100%> (-0.12%)	⬇️
api/opentrons/containers/placeable.py	95.19% <0%> (+0.3%)	⬆️
api/opentrons/util/vector.py	84.48% <0%> (+0.86%)	⬆️

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[Laura-Danielle]

Tested with the following protocol:

from opentrons import containers, instruments, robot


rack1 = containers.load('tiprack-10ul', '3')
rack2 = containers.load('tiprack-200ul', '6')

plate = containers.load('96-flat', '1')


p10_single = instruments.P10_Single(
   mount='right',
   tip_racks=[rack1]
   )

p300_multi = instruments.P300_Multi(
   mount='left',
   tip_racks=[rack2]
   )


p10_single.pick_up_tip()
p10_single.aspirate(5, plate.wells('A1'))
p10_single.dispense(5, plate.wells('B1'))
p10_single.move_to(plate.wells('B5'))
p10_single.drop_tip()

p300_multi.pick_up_tip()
p300_multi.aspirate(40, plate.wells('A1'))
p300_multi.dispense(40, plate.wells('A2'))
p300_multi.move_to(plate.wells('A6'))
p300_multi.drop_tip()

• Good speed
• Moves through the plate without a large change in z height