feat(api, shared-data): make speed & distance pickUpTipConfiguration…

…s values keyed by tip count (#14458) * pickUpTipConfigurations' speed and distance are now objects keyed by tip count * updated to speedByTipCount and distanceByTipCount in all pipette defs * updated schema v1 build script * updated mutable configs handlers * updated hardware_testing/helpers_ot3
Opentrons · Feb 13, 2024 · e0aa995 · e0aa995
1 parent c142da1
commit e0aa995
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Showing 75 changed files with 965 additions and 168 deletions.
diff --git a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py
@@ -771,7 +771,7 @@ def plan_check_pick_up_tip(  # type: ignore[no-untyped-def]
         if instrument.has_tip:
             raise UnexpectedTipAttachError("pick_up_tip", instrument.name, mount.name)
         self._ihp_log.debug(f"Picking up tip on {mount.name}")
-
+        tip_count = instrument.nozzle_manager.current_configuration.tip_count
         if presses is None or presses < 0:
             checked_presses = instrument.pick_up_configurations.press_fit.presses
         else:
@@ -782,17 +782,20 @@ def plan_check_pick_up_tip(  # type: ignore[no-untyped-def]
         else:
             check_incr = increment
 
-        pick_up_speed = instrument.pick_up_configurations.press_fit.speed
+        pick_up_speed = instrument.pick_up_configurations.press_fit.speed_by_tip_count[
+            tip_count
+        ]
+        pick_up_distance = (
+            instrument.pick_up_configurations.press_fit.distance_by_tip_count[tip_count]
+        )
 
         def build_presses() -> Iterator[Tuple[float, float]]:
             # Press the nozzle into the tip <presses> number of times,
             # moving further by <increment> mm after each press
             for i in range(checked_presses):
                 # move nozzle down into the tip
-                press_dist = (
-                    -1.0 * instrument.pick_up_configurations.press_fit.distance
-                    + -1.0 * check_incr * i
-                )
+
+                press_dist = -1.0 * pick_up_distance + -1.0 * check_incr * i
                 # move nozzle back up
                 backup_dist = -press_dist
                 yield (press_dist, backup_dist)
@@ -814,7 +817,7 @@ def add_tip_to_instr() -> None:
                                 Axis.by_mount(
                                     mount
                                 ): instrument.pick_up_configurations.press_fit.current_by_tip_count[
-                                    instrument.nozzle_manager.current_configuration.tip_count
+                                    tip_count
                                 ]
                             },
                             speed=pick_up_speed,
@@ -824,9 +827,7 @@ def add_tip_to_instr() -> None:
                         for press_dist, backup_dist in build_presses()
                     ],
                     shake_off_list=self._build_pickup_shakes(instrument),
-                    retract_target=instrument.pick_up_configurations.press_fit.distance
-                    + check_incr * checked_presses
-                    + 2,
+                    retract_target=pick_up_distance + check_incr * checked_presses + 2,
                 ),
                 add_tip_to_instr,
             )
@@ -855,9 +856,7 @@ def add_tip_to_instr() -> None:
                         for press_dist, backup_dist in build_presses()
                     ],
                     shake_off_list=self._build_pickup_shakes(instrument),
-                    retract_target=instrument.pick_up_configurations.press_fit.distance
-                    + check_incr * checked_presses
-                    + 2,
+                    retract_target=pick_up_distance + check_incr * checked_presses + 2,
                 ),
                 add_tip_to_instr,
             )

diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py
@@ -667,8 +667,18 @@ def get_pick_up_configuration_for_tip_count(
         ):
             if not config:
                 continue
-            if count in config.current_by_tip_count:
+
+            if isinstance(config, PressFitPickUpTipConfiguration) and all(
+                [
+                    config.speed_by_tip_count.get(count),
+                    config.distance_by_tip_count.get(count),
+                    config.current_by_tip_count.get(count),
+                ]
+            ):
+                return config
+            elif config.current_by_tip_count.get(count) is not None:
                 return config
+
         raise CommandPreconditionViolated(
             message=f"No pick up tip configuration for {count} tips",
         )

diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
@@ -794,15 +794,18 @@ def plan_lt_pick_up_tip(
         else:
             check_incr = increment
 
-        pick_up_speed = pick_up_config.speed
+        pick_up_speed = pick_up_config.speed_by_tip_count[tip_count]
 
         def build_presses() -> List[TipActionMoveSpec]:
             # Press the nozzle into the tip <presses> number of times,
             # moving further by <increment> mm after each press
             press_moves = []
             for i in range(checked_presses):
                 # move nozzle down into the tip
-                press_dist = -1.0 * pick_up_config.distance + -1.0 * check_incr * i
+                press_dist = (
+                    -1.0 * pick_up_config.distance_by_tip_count[tip_count]
+                    + -1.0 * check_incr * i
+                )
                 press_moves.append(
                     TipActionMoveSpec(
                         distance=press_dist,

diff --git a/api/tests/opentrons/hardware_control/test_pipette_handler.py b/api/tests/opentrons/hardware_control/test_pipette_handler.py
@@ -114,9 +114,13 @@ def test_plan_check_pick_up_tip_with_presses_argument(
     decoy.when(mock_pipette.pick_up_configurations.press_fit.presses).then_return(
         expected_array_length
     )
-    decoy.when(mock_pipette.pick_up_configurations.press_fit.distance).then_return(5)
+    decoy.when(
+        mock_pipette.pick_up_configurations.press_fit.distance_by_tip_count
+    ).then_return({1: 5})
     decoy.when(mock_pipette.pick_up_configurations.press_fit.increment).then_return(0)
-    decoy.when(mock_pipette.pick_up_configurations.press_fit.speed).then_return(10)
+    decoy.when(
+        mock_pipette.pick_up_configurations.press_fit.speed_by_tip_count
+    ).then_return({1: 10})
     decoy.when(mock_pipette.config.end_tip_action_retract_distance_mm).then_return(0)
     decoy.when(
         mock_pipette.pick_up_configurations.press_fit.current_by_tip_count
@@ -171,8 +175,8 @@ def test_plan_check_pick_up_tip_with_presses_argument_ot3(
         else PressFitPickUpTipConfiguration(
             presses=2,
             increment=increment,
-            distance=10,
-            speed=5.5,
+            distanceByTipCount={channels: 10},
+            speedByTipCount={channels: 5.5},
             currentByTipCount={channels: 1.0},
         )
     )

diff --git a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
@@ -567,10 +567,12 @@ async def update_pick_up_current(
 async def update_pick_up_distance(
     api: OT3API, mount: OT3Mount, distance: float = 17.0
 ) -> None:
-    """Update pick-up-tip current."""
+    """Update pick-up-tip distance."""
     pipette = _get_pipette_from_mount(api, mount)
     config_model = pipette.pick_up_configurations.press_fit
-    config_model.distance = distance
+    config_model.distance_by_tip_count = {
+        k: distance for k in config_model.distance_by_tip_count.keys()
+    }
     pipette.pick_up_configurations.press_fit = config_model
 
 

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
@@ -5,10 +5,28 @@
   "displayCategory": "GEN1",
   "pickUpTipConfigurations": {
     "pressFit": {
-      "speed": 30.0,
+      "speedByTipCount": {
+        "1": 30.0,
+        "2": 30.0,
+        "3": 30.0,
+        "4": 30.0,
+        "5": 30.0,
+        "6": 30.0,
+        "7": 30.0,
+        "8": 30.0
+      },
       "presses": 3,
       "increment": 1.0,
-      "distance": 10.0,
+      "distanceByTipCount": {
+        "1": 10.0,
+        "2": 10.0,
+        "3": 10.0,
+        "4": 10.0,
+        "5": 10.0,
+        "6": 10.0,
+        "7": 10.0,
+        "8": 10.0
+      },
       "currentByTipCount": {
         "1": 0.1,
         "2": 0.1,

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
@@ -5,10 +5,28 @@
   "displayCategory": "GEN1",
   "pickUpTipConfigurations": {
     "pressFit": {
-      "speed": 30.0,
+      "speedByTipCount": {
+        "1": 30.0,
+        "2": 30.0,
+        "3": 30.0,
+        "4": 30.0,
+        "5": 30.0,
+        "6": 30.0,
+        "7": 30.0,
+        "8": 30.0
+      },
       "presses": 3,
       "increment": 1.0,
-      "distance": 10.0,
+      "distanceByTipCount": {
+        "1": 10.0,
+        "2": 10.0,
+        "3": 10.0,
+        "4": 10.0,
+        "5": 10.0,
+        "6": 10.0,
+        "7": 10.0,
+        "8": 10.0
+      },
       "currentByTipCount": {
         "1": 0.1,
         "2": 0.1,

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
@@ -5,10 +5,28 @@
   "displayCategory": "GEN1",
   "pickUpTipConfigurations": {
     "pressFit": {
-      "speed": 30.0,
+      "speedByTipCount": {
+        "1": 30.0,
+        "2": 30.0,
+        "3": 30.0,
+        "4": 30.0,
+        "5": 30.0,
+        "6": 30.0,
+        "7": 30.0,
+        "8": 30.0
+      },
       "presses": 3,
       "increment": 1.0,
-      "distance": 10.0,
+      "distanceByTipCount": {
+        "1": 10.0,
+        "2": 10.0,
+        "3": 10.0,
+        "4": 10.0,
+        "5": 10.0,
+        "6": 10.0,
+        "7": 10.0,
+        "8": 10.0
+      },
       "currentByTipCount": {
         "1": 0.1,
         "2": 0.1,

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
@@ -5,10 +5,28 @@
   "displayCategory": "GEN1",
   "pickUpTipConfigurations": {
     "pressFit": {
-      "speed": 30.0,
+      "speedByTipCount": {
+        "1": 30.0,
+        "2": 30.0,
+        "3": 30.0,
+        "4": 30.0,
+        "5": 30.0,
+        "6": 30.0,
+        "7": 30.0,
+        "8": 30.0
+      },
       "presses": 3,
       "increment": 3.0,
-      "distance": 10.0,
+      "distanceByTipCount": {
+        "1": 10.0,
+        "2": 10.0,
+        "3": 10.0,
+        "4": 10.0,
+        "5": 10.0,
+        "6": 10.0,
+        "7": 10.0,
+        "8": 10.0
+      },
       "currentByTipCount": {
         "1": 0.1,
         "2": 0.14,

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
@@ -5,10 +5,28 @@
   "displayCategory": "GEN1",
   "pickUpTipConfigurations": {
     "pressFit": {
-      "speed": 30.0,
+      "speedByTipCount": {
+        "1": 30.0,
+        "2": 30.0,
+        "3": 30.0,
+        "4": 30.0,
+        "5": 30.0,
+        "6": 30.0,
+        "7": 30.0,
+        "8": 30.0
+      },
       "presses": 3,
       "increment": 3.0,
-      "distance": 10.0,
+      "distanceByTipCount": {
+        "1": 10.0,
+        "2": 10.0,
+        "3": 10.0,
+        "4": 10.0,
+        "5": 10.0,
+        "6": 10.0,
+        "7": 10.0,
+        "8": 10.0
+      },
       "currentByTipCount": {
         "1": 0.1,
         "2": 0.14,

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
@@ -6,9 +6,27 @@
   "pickUpTipConfigurations": {
     "pressFit": {
       "presses": 1,
-      "speed": 10,
+      "speedByTipCount": {
+        "1": 10.0,
+        "2": 10.0,
+        "3": 10.0,
+        "4": 10.0,
+        "5": 10.0,
+        "6": 10.0,
+        "7": 10.0,
+        "8": 10.0
+      },
       "increment": 0.0,
-      "distance": 13.0,
+      "distanceByTipCount": {
+        "1": 13.0,
+        "2": 13.0,
+        "3": 13.0,
+        "4": 13.0,
+        "5": 13.0,
+        "6": 13.0,
+        "7": 13.0,
+        "8": 13.0
+      },
       "currentByTipCount": {
         "1": 0.15,
         "2": 0.13,

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
@@ -6,9 +6,27 @@
   "pickUpTipConfigurations": {
     "pressFit": {
       "presses": 1,
-      "speed": 10,
+      "speedByTipCount": {
+        "1": 10.0,
+        "2": 10.0,
+        "3": 10.0,
+        "4": 10.0,
+        "5": 10.0,
+        "6": 10.0,
+        "7": 10.0,
+        "8": 10.0
+      },
       "increment": 0.0,
-      "distance": 13.0,
+      "distanceByTipCount": {
+        "1": 13.0,
+        "2": 13.0,
+        "3": 13.0,
+        "4": 13.0,
+        "5": 13.0,
+        "6": 13.0,
+        "7": 13.0,
+        "8": 13.0
+      },
       "currentByTipCount": {
         "1": 0.15,
         "2": 0.13,

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
@@ -6,9 +6,27 @@
   "pickUpTipConfigurations": {
     "pressFit": {
       "presses": 1,
-      "speed": 10,
+      "speedByTipCount": {
+        "1": 10.0,
+        "2": 10.0,
+        "3": 10.0,
+        "4": 10.0,
+        "5": 10.0,
+        "6": 10.0,
+        "7": 10.0,
+        "8": 10.0
+      },
       "increment": 0.0,
-      "distance": 13.0,
+      "distanceByTipCount": {
+        "1": 13.0,
+        "2": 13.0,
+        "3": 13.0,
+        "4": 13.0,
+        "5": 13.0,
+        "6": 13.0,
+        "7": 13.0,
+        "8": 13.0
+      },
       "currentByTipCount": {
         "1": 0.15,
         "2": 0.13,