feat(api): check for tip presence on 96 channel pipette (#13703)

Opentrons · Oct 6, 2023 · 0b97681 · 0b97681
1 parent 1b209e5
commit 0b97681
Show file tree

Hide file tree

Showing 68 changed files with 175 additions and 67 deletions.
diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py
@@ -509,6 +509,10 @@ def remove_tip(self) -> None:
     def has_tip(self) -> bool:
         return self._has_tip
 
+    @property
+    def tip_presence_check_dist_mm(self) -> float:
+        return self._config.tip_presence_check_distance_mm
+
     # Cache max is chosen somewhat arbitrarily. With a float is input we don't
     # want this to unbounded.
     @functools.lru_cache(maxsize=100)

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -34,7 +34,9 @@
     pipette_load_name_conversions as pipette_load_name,
 )
 from opentrons_shared_data.robot.dev_types import RobotType
-from opentrons_shared_data.errors.exceptions import StallOrCollisionDetectedError
+from opentrons_shared_data.errors.exceptions import (
+    StallOrCollisionDetectedError,
+)
 
 from opentrons import types as top_types
 from opentrons.config import robot_configs, feature_flags as ff
@@ -1895,6 +1897,42 @@ async def blow_out(
             blowout_spec.instr.set_current_volume(0)
             blowout_spec.instr.ready_to_aspirate = False
 
+    async def get_tip_presence_status(self, mount: OT3Mount) -> bool:
+        """
+        Check tip presence status. If a high throughput pipette is present,
+        move the tip motors down before checking the sensor status.
+        """
+        checked_mount = OT3Mount.from_mount(mount)
+        high_throughput = self._gantry_load == GantryLoad.HIGH_THROUGHPUT
+        if high_throughput:
+            # check if we're already at the tip_presence_check position, if we are dont move
+
+            instrument = self._pipette_handler.get_pipette(checked_mount)
+            tip_presence_check_target = instrument.tip_presence_check_dist_mm
+
+            # if position is not known, home gear motors before any potential movement
+            if self._backend.gear_motor_position is None:
+                await self.home_gear_motors()
+
+            tip_motor_pos_float = axis_convert(self._backend.gear_motor_position, 0.0)[
+                Axis.of_main_tool_actuator(checked_mount)
+            ]
+
+            # only move tip motors if they are not already below the sensor
+            if tip_motor_pos_float < tip_presence_check_target:
+                clamp_moves = self._build_moves(
+                    {Axis.Q: tip_motor_pos_float}, {Axis.Q: tip_presence_check_target}
+                )
+                await self._backend.tip_action(moves=clamp_moves[0])
+        tip_status = await self._backend.get_tip_present_state(
+            mount=checked_mount, expect_multiple_responses=high_throughput
+        )
+
+        if high_throughput:
+            # return tip motors to neutral position
+            await self.home_gear_motors()
+        return tip_status
+
     async def _force_pick_up_tip(
         self, mount: OT3Mount, pipette_spec: PickUpTipSpec
     ) -> None:

diff --git a/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py b/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
@@ -72,7 +72,7 @@ def test_filter_zero_duration_step() -> None:
         Axis.P_R: 0,
     }
     moves = [Move.build_dummy([Axis.X, Axis.Y, Axis.Z_L, Axis.Z_R, Axis.P_L])]
-    for block in (moves[0].blocks[0], moves[0].blocks[1]):
+    for block in moves[0].blocks:
         block.distance = f64(25.0)
         block.time = f64(1.0)
         block.initial_speed = f64(25.0)

diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json
@@ -57,5 +57,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json
@@ -57,5 +57,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json
@@ -57,5 +57,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json
@@ -57,5 +57,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 2.0,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 2.0,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 2.0,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 0.8,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 0.8,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }