feat(api) Support changing current based on tip configuration

api/src/opentrons/hardware_control/instruments/nozzle_manager.py

@@ -200,15 +200,18 @@ class NozzleConfigurationManager:
     def __init__(
         self,
         nozzle_map: NozzleMap,
-        current_scalar: float,
+        pick_up_current_map: Dict[int, float],
     ) -> None:
         self._physical_nozzle_map = nozzle_map
         self._current_nozzle_configuration = nozzle_map
-        self._current_scalar: Final[float] = current_scalar
+        self._pick_up_current_map: Final[Dict[int, float]] = pick_up_current_map
 
     @classmethod
     def build_from_nozzlemap(
-        cls, nozzle_map: Dict[str, List[float]], current_scalar: float
+        cls,
+        nozzle_map: Dict[str, List[float]],
+        default_pickup_current: float,
+        pick_up_current_map: Optional[Dict[int, float]] = None,
     ) -> "NozzleConfigurationManager":
 
         sorted_nozzlemap = list(nozzle_map.keys())
@@ -224,12 +227,23 @@ def build_from_nozzlemap(
             back_left_nozzle=first_nozzle,
             front_right_nozzle=last_nozzle,
         )
-        return cls(starting_nozzle_config, current_scalar)
+        if pick_up_current_map:
+            current_map = pick_up_current_map
+        else:
+            current_map = {
+                num_tips + 1: default_pickup_current
+                for num_tips in range(len(starting_nozzle_config.map_store))
+            }
+        return cls(starting_nozzle_config, current_map)
 
     @property
     def starting_nozzle_offset(self) -> Point:
         return self._current_nozzle_configuration.starting_nozzle_offset
 
+    @property
+    def current_configuration(self) -> NozzleMap:
+        return self._current_nozzle_configuration
+
     def update_nozzle_configuration(
         self,
         back_left_nozzle: str,
@@ -256,13 +270,10 @@ def update_nozzle_configuration(
                 front_right_nozzle=front_right_nozzle,
             )
 
-    def get_current_for_tip_configuration(self) -> float:
-        # TODO While implementing this PR I realized that
-        # the current scalar truly is inefficient for
-        # encapsulating varying currents needed for
-        # pick up tip so we'll need to follow this up
-        # with a lookup table.
-        return self._current_scalar
+    def get_tip_configuration_current(self) -> float:
+        return self._pick_up_current_map[
+            len(self._current_nozzle_configuration.map_store)
+        ]
 
     def critical_point_with_tip_length(
         self,

api/src/opentrons/hardware_control/instruments/ot2/pipette.py

@@ -5,7 +5,7 @@
 """ Classes and functions for pipette state tracking
 """
 import logging
-from typing import Any, Dict, Optional, Set, Tuple, Union, cast, List
+from typing import Any, Dict, Optional, Set, Tuple, Union, cast
 
 from opentrons_shared_data.pipette.pipette_definition import (
     PipetteConfigurations,
@@ -90,6 +90,7 @@ def __init__(
         self._pipette_version = self._config.version
         self._max_channels = self._config.channels
         self._backlash_distance = config.backlash_distance
+        self._pick_up_configurations = config.pick_up_tip_configurations
 
         self._liquid_class_name = pip_types.LiquidClasses.default
         self._liquid_class = self._config.liquid_properties[self._liquid_class_name]
@@ -110,6 +111,7 @@ def __init__(
         self._nozzle_manager = (
             nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap(
                 self._config.nozzle_map,
+                self._pick_up_configurations.current,
                 self._config.partial_tip_configurations.per_tip_pickup_current,
             )
         )
@@ -201,8 +203,12 @@ def liquid_class_name(self) -> pip_types.LiquidClasses:
         return self._liquid_class_name
 
     @property
-    def nozzle_offset(self) -> List[float]:
-        return self._nozzle_offset
+    def nozzle_offset(self) -> Point:
+        return self._nozzle_manager.starting_nozzle_offset
+
+    @property
+    def nozzle_manager(self) -> nozzle_manager.NozzleConfigurationManager:
+        return self._nozzle_manager
 
     @property
     def pipette_offset(self) -> PipetteOffsetByPipetteMount:
@@ -289,6 +295,7 @@ def reset_state(self) -> None:
         self._nozzle_manager = (
             nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap(
                 self._config.nozzle_map,
+                self._pick_up_configurations.current,
                 self._config.partial_tip_configurations.per_tip_pickup_current,
             )
         )

api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py

@@ -793,7 +793,7 @@ def add_tip_to_instr() -> None:
                             current={
                                 Axis.by_mount(
                                     mount
-                                ): instrument.pick_up_configurations.current
+                                ): instrument.nozzle_manager.get_tip_configuration_current()
                             },
                             speed=pick_up_speed,
                             relative_down=top_types.Point(0, 0, press_dist),

api/src/opentrons/hardware_control/instruments/ot3/pipette.py

@@ -1,7 +1,7 @@
 import logging
 import functools
 
-from typing import Any, List, Dict, Optional, Set, Tuple, Union, cast
+from typing import Any, Dict, Optional, Set, Tuple, Union, cast
 
 from opentrons.types import Point
 
@@ -97,6 +97,7 @@ def __init__(
         self._nozzle_manager = (
             nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap(
                 self._config.nozzle_map,
+                self._pick_up_configurations.current,
                 self._config.partial_tip_configurations.per_tip_pickup_current,
             )
         )
@@ -165,8 +166,12 @@ def tip_overlap(self) -> Dict[str, float]:
         return self._tip_overlap_lookup
 
     @property
-    def nozzle_offset(self) -> List[float]:
-        return self._nozzle_offset
+    def nozzle_offset(self) -> Point:
+        return self._nozzle_manager.starting_nozzle_offset
+
+    @property
+    def nozzle_manager(self) -> nozzle_manager.NozzleConfigurationManager:
+        return self._nozzle_manager
 
     @property
     def pipette_offset(self) -> PipetteOffsetByPipetteMount:
@@ -256,6 +261,7 @@ def reset_state(self) -> None:
         self._nozzle_manager = (
             nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap(
                 self._config.nozzle_map,
+                self._pick_up_configurations.current,
                 self._config.partial_tip_configurations.per_tip_pickup_current,
             )
         )
@@ -315,6 +321,8 @@ def critical_point(self, cp_override: Optional[CriticalPoint] = None) -> Point:
         cp_with_tip_length = self._nozzle_manager.critical_point_with_tip_length(
             cp_override,
             self.current_tip_length if cp_override != CriticalPoint.NOZZLE else 0.0,
+            cp_override, self.current_tip_length
+
         )
         cp = cp_with_tip_length + instr
 

api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py

@@ -44,6 +44,7 @@
 )
 
 from opentrons.hardware_control.dev_types import PipetteDict
+from ..nozzle_manager import NozzleConfigurationType
 from .pipette import Pipette
 from .instrument_calibration import PipetteOffsetByPipetteMount
 
@@ -742,7 +743,11 @@ def build_presses() -> Iterator[Tuple[float, float]]:
                 backup_dist = -press_dist
                 yield (press_dist, backup_dist)
 
-        if instrument.channels == 96:
+        if (
+            instrument.channels == 96
+            and instrument.nozzle_manager.current_configuration.configuration
+            == NozzleConfigurationType.FULL
+        ):
             return (
                 PickUpTipSpec(
                     plunger_prep_pos=instrument.plunger_positions.bottom,
@@ -779,7 +784,7 @@ def build_presses() -> Iterator[Tuple[float, float]]:
                         current={
                             Axis.by_mount(
                                 mount
-                            ): instrument.pick_up_configurations.current
+                            ): instrument.nozzle_manager.get_tip_configuration_current()
                         },
                         speed=pick_up_speed,
                         relative_down=top_types.Point(0, 0, press_dist),

api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py

@@ -7,12 +7,15 @@
 from opentrons.types import Point
 from opentrons.hardware_control.types import CriticalPoint
 
+from opentrons.types import Point
+from opentrons.hardware_control.types import CriticalPoint
+
 
 def build_nozzle_manger(
     nozzle_map: Dict[str, List[float]]
 ) -> nozzle_manager.NozzleConfigurationManager:
     return nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap(
-        nozzle_map, current_scalar=1
+        nozzle_map, default_pickup_current=1
     )
 
 

api/tests/opentrons/hardware_control/test_pipette.py

@@ -166,7 +166,7 @@ def test_critical_points_pipette_offset(
 ) -> None:
     hw_pipette = pipette_builder(model, calibration)
     # pipette offset + nozzle offset to determine critical point
-    offsets = calibration.offset + Point(*hw_pipette.nozzle_offset)
+    offsets = calibration.offset + hw_pipette.nozzle_offset
     assert hw_pipette.critical_point() == offsets
     assert hw_pipette.critical_point(types.CriticalPoint.NOZZLE) == offsets
     assert hw_pipette.critical_point(types.CriticalPoint.TIP) == offsets

api/tests/opentrons/hardware_control/test_pipette_handler.py

@@ -10,6 +10,9 @@
 from opentrons.hardware_control.instruments.ot2.pipette_handler import (
     PipetteHandlerProvider,
 )
+from opentrons.hardware_control.instruments.nozzle_manager import (
+    NozzleConfigurationType,
+)
 from opentrons.hardware_control.instruments.ot3.pipette import Pipette as OT3Pipette
 from opentrons.hardware_control.instruments.ot3.pipette_handler import (
     OT3PipetteHandler,
@@ -117,6 +120,9 @@ def test_plan_check_pick_up_tip_with_presses_argument_ot3(
     decoy.when(mock_pipette_ot3.pick_up_configurations.current).then_return(1)
     decoy.when(mock_pipette_ot3.config.quirks).then_return([])
     decoy.when(mock_pipette_ot3.channels).then_return(channels)
+    decoy.when(
+        mock_pipette_ot3.nozzle_manager.current_configuration.configuration
+    ).then_return(NozzleConfigurationType.FULL)
 
     if presses_input is None:
         decoy.when(mock_pipette_ot3.config.pick_up_presses).then_return(

shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json

@@ -34,7 +34,17 @@
   },
   "partialTipConfigurations": {
     "partialTipSupported": true,
-    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
+    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
+    "perTipPickupCurrent": {
+      "1": 0.2,
+      "2": 0.3,
+      "3": 0.4,
+      "4": 0.5,
+      "5": 0.6,
+      "6": 0.7,
+      "7": 0.8,
+      "8": 0.9
+    }
   },
   "channels": 8,
   "shaftDiameter": 1.0,

shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json

@@ -34,7 +34,17 @@
   },
   "partialTipConfigurations": {
     "partialTipSupported": true,
-    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
+    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
+    "perTipPickupCurrent": {
+      "1": 0.2,
+      "2": 0.3,
+      "3": 0.4,
+      "4": 0.5,
+      "5": 0.6,
+      "6": 0.7,
+      "7": 0.8,
+      "8": 0.9
+    }
   },
   "channels": 8,
   "shaftDiameter": 1.0,

shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json

@@ -34,7 +34,17 @@
   },
   "partialTipConfigurations": {
     "partialTipSupported": true,
-    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
+    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
+    "perTipPickupCurrent": {
+      "1": 0.2,
+      "2": 0.3,
+      "3": 0.4,
+      "4": 0.5,
+      "5": 0.6,
+      "6": 0.7,
+      "7": 0.8,
+      "8": 0.9
+    }
   },
   "channels": 8,
   "shaftDiameter": 1.0,

shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json

@@ -34,7 +34,17 @@
   },
   "partialTipConfigurations": {
     "partialTipSupported": true,
-    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
+    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
+    "perTipPickupCurrent": {
+      "1": 0.2,
+      "2": 0.3,
+      "3": 0.4,
+      "4": 0.5,
+      "5": 0.6,
+      "6": 0.7,
+      "7": 0.8,
+      "8": 0.9
+    }
   },
   "channels": 8,
   "shaftDiameter": 1.0,

shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json

@@ -34,7 +34,17 @@
   },
   "partialTipConfigurations": {
     "partialTipSupported": true,
-    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
+    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
+    "perTipPickupCurrent": {
+      "1": 0.2,
+      "2": 0.3,
+      "3": 0.4,
+      "4": 0.5,
+      "5": 0.6,
+      "6": 0.7,
+      "7": 0.8,
+      "8": 0.9
+    }
   },
   "channels": 8,
   "shaftDiameter": 1.0,

shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json

@@ -1,6 +1,6 @@
 {
   "$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json",
-  "displayName": "Flex 8-Channel 1000 μL",
+  "displayName": "Flex 8-Channel 1000 \u03bcL",
   "model": "p1000",
   "displayCategory": "FLEX",
   "pickUpTipConfigurations": {
@@ -40,7 +40,17 @@
   },
   "partialTipConfigurations": {
     "partialTipSupported": true,
-    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
+    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
+    "perTipPickupCurrent": {
+      "1": 0.2,
+      "2": 0.3,
+      "3": 0.4,
+      "4": 0.5,
+      "5": 0.6,
+      "6": 0.7,
+      "7": 0.8,
+      "8": 0.9
+    }
   },
   "backCompatNames": [],
   "channels": 8,

shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json

@@ -40,7 +40,17 @@
   },
   "partialTipConfigurations": {
     "partialTipSupported": true,
-    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
+    "availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
+    "perTipPickupCurrent": {
+      "1": 0.2,
+      "2": 0.3,
+      "3": 0.4,
+      "4": 0.5,
+      "5": 0.6,
+      "6": 0.7,
+      "7": 0.8,
+      "8": 0.9
+    }
   },
   "backCompatNames": [],
   "channels": 8,