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fix(g-code-testing): Update g code testing for new stop behavior (#13670
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@sfoster1
sfoster1 authored Sep 28, 2023
1 parent 24eb3c1 commit b8309e7
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25 changes: 24 additions & 1 deletion g-code-testing/g_code_test_data/comparison_files/protocols/2.14/pcr_prep_part_2.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8775,6 +8775,29 @@ smoothie: G0 F24000.0 -> Setting speed to 24000.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M204 S10000.0 A1500.0 B200.0 C200.0 X3000.0 Y2000.0 Z1500.0 -> Setting acceleration for the following axes: Default: 10000.0 X-Axis: 3000.0 Y-Axis: 2000.0 Left Pipette Arm: 1500.0 Right Pipette Arm: 1500.0 Left Pipette Suction: 200.0 Right Pipette Suction: 200.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M999 -> Resetting OT-2 from error state ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G28.6 -> Getting homing status for all axes -> The homing status of the robot is: A Axis: 1 B Axis: 1 C Axis: 1 X Axis: 1 Y Axis: 1 Z Axis: 1
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M999 -> Resetting OT-2 from error state ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G28.6 -> Getting homing status for all axes -> The homing status of the robot is: A Axis: 1 B Axis: 1 C Axis: 1 X Axis: 1 Y Axis: 1 Z Axis: 1
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M92 X80.0 Y80.0 Z400.0 A400.0 -> Setting the following axes steps per mm: X-Axis: 80.0 steps per mm Y-Axis: 80.0 steps per mm Z-Axis: 400.0 steps per mm A-Axis: 400.0 steps per mm -> Current set steps per mm:
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M92 B768.0 C768.0 -> Setting the following axes steps per mm: B-Axis: 768.0 steps per mm C-Axis: 768.0 steps per mm -> Current set steps per mm:
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G90 -> Switching to Absolute Coordinate Mode ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M114.2 -> Getting current position for all axes -> The current position of the robot is: A Axis: 218.0 B Axis: -14.5 C Axis: -14.5 X Axis: 381.84 Y Axis: 351.5 Z Axis: 97.58
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M203.1 A125.0 B40.0 C40.0 X600.0 Y400.0 Z125.0 -> Setting the max speed for the following axes: X-Axis: 600.0 Y-Axis: 400.0 Z-Axis: 125.0 A-Axis: 125.0 B-Axis: 40.0 C-Axis: 40.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G0 F24000.0 -> Setting speed to 24000.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M204 S10000.0 A1500.0 B200.0 C200.0 X3000.0 Y2000.0 Z1500.0 -> Setting acceleration for the following axes: Default: 10000.0 X-Axis: 3000.0 Y-Axis: 2000.0 Left Pipette Arm: 1500.0 Right Pipette Arm: 1500.0 Left Pipette Suction: 200.0 Right Pipette Suction: 200.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M18 Z A B C -> Disengaging motor for the following axes: Z, A, B, C ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G4 P0.1 -> Pausing movement for 0.1ms ->
Expand Down Expand Up @@ -8926,4 +8949,4 @@ smoothie: G0 C-14.5 -> Moving the robot as follows: The right pipette suction to
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M907 A0.1 B0.3 C0.3 X0.3 Y0.3 Z0.1 -> Setting the current (in amps) to: X-Axis Motor: 0.3 Y-Axis Motor: 0.3 Z-Axis Motor: 0.1 A-Axis Motor: 0.1 B-Axis Motor: 0.3 C-Axis Motor: 0.3 ->
smoothie: G4 P0.005 -> Pausing movement for 0.005ms ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M400 -> Waiting for motors to stop moving ->
25 changes: 24 additions & 1 deletion g-code-testing/g_code_test_data/comparison_files/protocols/2.14/swift_smoke.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6991,6 +6991,29 @@ smoothie: G0 F24000.0 -> Setting speed to 24000.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M204 S10000.0 A1500.0 B200.0 C200.0 X3000.0 Y2000.0 Z1500.0 -> Setting acceleration for the following axes: Default: 10000.0 X-Axis: 3000.0 Y-Axis: 2000.0 Left Pipette Arm: 1500.0 Right Pipette Arm: 1500.0 Left Pipette Suction: 200.0 Right Pipette Suction: 200.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M999 -> Resetting OT-2 from error state ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G28.6 -> Getting homing status for all axes -> The homing status of the robot is: A Axis: 1 B Axis: 1 C Axis: 1 X Axis: 1 Y Axis: 1 Z Axis: 1
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M999 -> Resetting OT-2 from error state ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G28.6 -> Getting homing status for all axes -> The homing status of the robot is: A Axis: 1 B Axis: 1 C Axis: 1 X Axis: 1 Y Axis: 1 Z Axis: 1
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M92 X80.0 Y80.0 Z400.0 A400.0 -> Setting the following axes steps per mm: X-Axis: 80.0 steps per mm Y-Axis: 80.0 steps per mm Z-Axis: 400.0 steps per mm A-Axis: 400.0 steps per mm -> Current set steps per mm:
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M92 B768.0 C768.0 -> Setting the following axes steps per mm: B-Axis: 768.0 steps per mm C-Axis: 768.0 steps per mm -> Current set steps per mm:
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G90 -> Switching to Absolute Coordinate Mode ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M114.2 -> Getting current position for all axes -> The current position of the robot is: A Axis: 97.58 B Axis: -8.5 C Axis: -14.5 X Axis: 347.84 Y Axis: 351.5 Z Axis: 218.0
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M203.1 A125.0 B40.0 C40.0 X600.0 Y400.0 Z125.0 -> Setting the max speed for the following axes: X-Axis: 600.0 Y-Axis: 400.0 Z-Axis: 125.0 A-Axis: 125.0 B-Axis: 40.0 C-Axis: 40.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G0 F24000.0 -> Setting speed to 24000.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M204 S10000.0 A1500.0 B200.0 C200.0 X3000.0 Y2000.0 Z1500.0 -> Setting acceleration for the following axes: Default: 10000.0 X-Axis: 3000.0 Y-Axis: 2000.0 Left Pipette Arm: 1500.0 Right Pipette Arm: 1500.0 Left Pipette Suction: 200.0 Right Pipette Suction: 200.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M18 Z A B C -> Disengaging motor for the following axes: Z, A, B, C ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G4 P0.1 -> Pausing movement for 0.1ms ->
Expand Down Expand Up @@ -7126,4 +7149,4 @@ smoothie: G0 C-14.5 -> Moving the robot as follows: The right pipette suction to
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M907 A0.1 B0.05 C0.3 X0.3 Y0.3 Z0.1 -> Setting the current (in amps) to: X-Axis Motor: 0.3 Y-Axis Motor: 0.3 Z-Axis Motor: 0.1 A-Axis Motor: 0.1 B-Axis Motor: 0.05 C-Axis Motor: 0.3 ->
smoothie: G4 P0.005 -> Pausing movement for 0.005ms ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M400 -> Waiting for motors to stop moving ->
25 changes: 24 additions & 1 deletion g-code-testing/g_code_test_data/comparison_files/protocols/6/json_smoke.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -957,6 +957,29 @@ smoothie: G0 F24000.0 -> Setting speed to 24000.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M204 S10000.0 A1500.0 B200.0 C200.0 X3000.0 Y2000.0 Z1500.0 -> Setting acceleration for the following axes: Default: 10000.0 X-Axis: 3000.0 Y-Axis: 2000.0 Left Pipette Arm: 1500.0 Right Pipette Arm: 1500.0 Left Pipette Suction: 200.0 Right Pipette Suction: 200.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M999 -> Resetting OT-2 from error state ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G28.6 -> Getting homing status for all axes -> The homing status of the robot is: A Axis: 1 B Axis: 1 C Axis: 1 X Axis: 1 Y Axis: 1 Z Axis: 1
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M999 -> Resetting OT-2 from error state ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G28.6 -> Getting homing status for all axes -> The homing status of the robot is: A Axis: 1 B Axis: 1 C Axis: 1 X Axis: 1 Y Axis: 1 Z Axis: 1
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M92 X80.0 Y80.0 Z400.0 A400.0 -> Setting the following axes steps per mm: X-Axis: 80.0 steps per mm Y-Axis: 80.0 steps per mm Z-Axis: 400.0 steps per mm A-Axis: 400.0 steps per mm -> Current set steps per mm:
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M92 B768.0 C768.0 -> Setting the following axes steps per mm: B-Axis: 768.0 steps per mm C-Axis: 768.0 steps per mm -> Current set steps per mm:
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G90 -> Switching to Absolute Coordinate Mode ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M114.2 -> Getting current position for all axes -> The current position of the robot is: A Axis: 218.0 B Axis: -14.5 C Axis: -8.5 X Axis: 381.84 Y Axis: 351.5 Z Axis: 97.58
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M203.1 A125.0 B40.0 C40.0 X600.0 Y400.0 Z125.0 -> Setting the max speed for the following axes: X-Axis: 600.0 Y-Axis: 400.0 Z-Axis: 125.0 A-Axis: 125.0 B-Axis: 40.0 C-Axis: 40.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G0 F24000.0 -> Setting speed to 24000.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M204 S10000.0 A1500.0 B200.0 C200.0 X3000.0 Y2000.0 Z1500.0 -> Setting acceleration for the following axes: Default: 10000.0 X-Axis: 3000.0 Y-Axis: 2000.0 Left Pipette Arm: 1500.0 Right Pipette Arm: 1500.0 Left Pipette Suction: 200.0 Right Pipette Suction: 200.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M18 Z A B C -> Disengaging motor for the following axes: Z, A, B, C ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G4 P0.1 -> Pausing movement for 0.1ms ->
Expand Down Expand Up @@ -1092,4 +1115,4 @@ smoothie: G0 C-8.5 -> Moving the robot as follows: The right pipette suction to
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M907 A0.1 B0.3 C0.05 X0.3 Y0.3 Z0.1 -> Setting the current (in amps) to: X-Axis Motor: 0.3 Y-Axis Motor: 0.3 Z-Axis Motor: 0.1 A-Axis Motor: 0.1 B-Axis Motor: 0.3 C-Axis Motor: 0.05 ->
smoothie: G4 P0.005 -> Pausing movement for 0.005ms ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M400 -> Waiting for motors to stop moving ->
25 changes: 24 additions & 1 deletion g-code-testing/g_code_test_data/comparison_files/protocols/6/no_mods.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2092,6 +2092,29 @@ smoothie: G0 F24000.0 -> Setting speed to 24000.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M204 S10000.0 A1500.0 B200.0 C200.0 X3000.0 Y2000.0 Z1500.0 -> Setting acceleration for the following axes: Default: 10000.0 X-Axis: 3000.0 Y-Axis: 2000.0 Left Pipette Arm: 1500.0 Right Pipette Arm: 1500.0 Left Pipette Suction: 200.0 Right Pipette Suction: 200.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M999 -> Resetting OT-2 from error state ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G28.6 -> Getting homing status for all axes -> The homing status of the robot is: A Axis: 1 B Axis: 1 C Axis: 1 X Axis: 1 Y Axis: 1 Z Axis: 1
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M999 -> Resetting OT-2 from error state ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G28.6 -> Getting homing status for all axes -> The homing status of the robot is: A Axis: 1 B Axis: 1 C Axis: 1 X Axis: 1 Y Axis: 1 Z Axis: 1
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M92 X80.0 Y80.0 Z400.0 A400.0 -> Setting the following axes steps per mm: X-Axis: 80.0 steps per mm Y-Axis: 80.0 steps per mm Z-Axis: 400.0 steps per mm A-Axis: 400.0 steps per mm -> Current set steps per mm:
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M92 B768.0 C768.0 -> Setting the following axes steps per mm: B-Axis: 768.0 steps per mm C-Axis: 768.0 steps per mm -> Current set steps per mm:
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G90 -> Switching to Absolute Coordinate Mode ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M114.2 -> Getting current position for all axes -> The current position of the robot is: A Axis: 102.5 B Axis: -14.5 C Axis: -8.5 X Axis: 347.84 Y Axis: 351.5 Z Axis: 218.0
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M203.1 A125.0 B40.0 C40.0 X600.0 Y400.0 Z125.0 -> Setting the max speed for the following axes: X-Axis: 600.0 Y-Axis: 400.0 Z-Axis: 125.0 A-Axis: 125.0 B-Axis: 40.0 C-Axis: 40.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G0 F24000.0 -> Setting speed to 24000.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M204 S10000.0 A1500.0 B200.0 C200.0 X3000.0 Y2000.0 Z1500.0 -> Setting acceleration for the following axes: Default: 10000.0 X-Axis: 3000.0 Y-Axis: 2000.0 Left Pipette Arm: 1500.0 Right Pipette Arm: 1500.0 Left Pipette Suction: 200.0 Right Pipette Suction: 200.0 ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M18 Z A B C -> Disengaging motor for the following axes: Z, A, B, C ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: G4 P0.1 -> Pausing movement for 0.1ms ->
Expand Down Expand Up @@ -2227,4 +2250,4 @@ smoothie: G0 C-8.5 -> Moving the robot as follows: The right pipette suction to
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M907 A0.1 B0.3 C0.05 X0.3 Y0.3 Z0.1 -> Setting the current (in amps) to: X-Axis Motor: 0.3 Y-Axis Motor: 0.3 Z-Axis Motor: 0.1 A-Axis Motor: 0.1 B-Axis Motor: 0.3 C-Axis Motor: 0.05 ->
smoothie: G4 P0.005 -> Pausing movement for 0.005ms ->
smoothie: M400 -> Waiting for motors to stop moving ->
smoothie: M400 -> Waiting for motors to stop moving ->

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