accumulate pickup distances, fix drop tip

Opentrons · Sep 28, 2023 · a524623 · a524623
1 parent 28cd067
commit a524623
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Showing 4 changed files with 14 additions and 16 deletions.
diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
@@ -766,14 +766,16 @@ def build_presses() -> Iterator[Tuple[float, float]]:
                 yield (press_dist, backup_dist)
 
         if instrument.channels == 96:
+            prep_move_dist = instrument.pick_up_configurations.prep_move_distance
+            clamp_move_dist = instrument.pick_up_configurations.distance
             tip_motor_moves = [
                 TipMotorPickUpTipSpec(
-                    distance=instrument.pick_up_configurations.prep_move_distance,
+                    distance=prep_move_dist,
                     speed=instrument.pick_up_configurations.prep_move_speed,
                     home_buffer=10,
                 ),
                 TipMotorPickUpTipSpec(
-                    distance=instrument.pick_up_configurations.distance,
+                    distance=prep_move_dist + clamp_move_dist,
                     speed=instrument.pick_up_configurations.speed,
                     home_buffer=10,
                 ),

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -1907,7 +1907,6 @@ async def _motor_pick_up_tip(
         gear_origin_float = axis_convert(self._backend.gear_motor_position, 0.0)[
             pipette_axis
         ]
-
         move_targets = []
         for move_segment in pipette_spec:
             move_targets.append(
@@ -1920,7 +1919,6 @@ async def _motor_pick_up_tip(
         _, moves = self._move_manager.plan_motion(
             origin={Axis.Q: gear_origin_float}, target_list=move_targets
         )
-
         await self._backend.tip_action(moves=moves[0])
 
         await self.home_gear_motors()
@@ -1966,7 +1964,7 @@ async def pick_up_tip(
 
         # fixme: really only need this during labware position check so user
         # can verify if a tip is properly attached
-        await self.move_rel(realmount, top_types.Point(z=spec.retract_target))
+        await self.move_rel(realmount, spec.tiprack_up)
 
         # TODO: implement tip-detection sequence during pick-up-tip for 96ch,
         #       but not with DVT pipettes because those can only detect drops
@@ -2008,7 +2006,6 @@ async def drop_tip(
         """Drop tip at the current location."""
         realmount = OT3Mount.from_mount(mount)
         spec, _remove = self._pipette_handler.plan_check_drop_tip(realmount, home_after)
-
         for move in spec.drop_moves:
             await self._backend.set_active_current(move.current)
 
@@ -2027,8 +2024,6 @@ async def drop_tip(
                 )
                 await self._backend.tip_action(moves=drop_moves[0])
 
-                await self.home_gear_motors()
-
             else:
                 target_pos = target_position_from_plunger(
                     realmount, move.target_position, self._current_position
@@ -2041,6 +2036,9 @@ async def drop_tip(
             if move.home_after:
                 await self._home(move.home_axes)
 
+        if any([move.is_ht_tip_action for move in spec.drop_moves]):
+            await self.home_gear_motors()
+
         for shake in spec.shake_moves:
             await self.move_rel(mount, shake[0], speed=shake[1])
 

diff --git a/hardware/opentrons_hardware/hardware_control/motion_planning/types.py b/hardware/opentrons_hardware/hardware_control/motion_planning/types.py
@@ -163,18 +163,18 @@ def dummy_value() -> np.float64:
             max_speed=np.float64(0),
             blocks=(
                 Block(
-                    distance=np.float64(20),
-                    initial_speed=np.float64(3),
+                    distance=np.float64(0),
+                    initial_speed=np.float64(0),
                     acceleration=np.float64(0),
                 ),
                 Block(
-                    distance=np.float64(20),
-                    initial_speed=np.float64(3),
+                    distance=np.float64(0),
+                    initial_speed=np.float64(0),
                     acceleration=np.float64(0),
                 ),
                 Block(
-                    distance=np.float64(20),
-                    initial_speed=np.float64(3),
+                    distance=np.float64(0),
+                    initial_speed=np.float64(0),
                     acceleration=np.float64(0),
                 ),
             ),

diff --git a/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py b/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py
@@ -145,7 +145,6 @@ def update(
     Recursively update the given dictionary to ensure no data is lost when updating.
     """
     next_key = next(iter_of_configs, None)
-    breakpoint()
     if next_key and isinstance(dict_to_update[next_key], dict):
         dict_to_update[next_key] = update(
             dict_to_update.get(next_key, {}), iter_of_configs, value_to_update
@@ -160,7 +159,6 @@ def build_nozzle_map(
 ) -> Dict[str, List[float]]:
     Y_OFFSET = 9
     X_OFFSET = -9
-    breakpoint()
     if channels == PipetteChannelType.SINGLE_CHANNEL:
         return {"A1": nozzle_offset}
     elif channels == PipetteChannelType.EIGHT_CHANNEL: