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feat(api) Support changing current based on tip configuration #13660

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merged 15 commits into from
Oct 16, 2023
Merged

feat(api) Support changing current based on tip configuration #13660

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9cd50a9
allow nozzle configuration changes through the hw controller
Laura-Danielle Sep 18, 2023
babbeb5
correct the nozzle offset calculations
Laura-Danielle Sep 19, 2023
a45752d
allow nozzle offset overrides when there is a tip present
Laura-Danielle Sep 19, 2023
f47b617
linter fixes
Laura-Danielle Sep 19, 2023
25120f9
shared data formatting
Laura-Danielle Sep 20, 2023
8785edf
update nozzle manager to be rectangular, change error type
Laura-Danielle Sep 22, 2023
fa1f1f0
update the signatures of the api calls to nozzle manager
Laura-Danielle Sep 22, 2023
a509a0e
update name of function, add starting tip param, move location of con…
Laura-Danielle Sep 25, 2023
c53f48d
refactor: Add current map in place of scalar
Laura-Danielle Sep 21, 2023
6eab794
support new current map in the hardware pipettes
Laura-Danielle Sep 26, 2023
decafda
update per tip currents and remove pick up current config
Laura-Danielle Oct 9, 2023
bfab28d
formatting and default to 0.0
Laura-Danielle Oct 9, 2023
dd06a8f
make linter happy
Laura-Danielle Oct 11, 2023
bbeb8f0
pr requests
Laura-Danielle Oct 12, 2023
e54db9b
support new current format for mutable configs
Laura-Danielle Oct 16, 2023
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25 changes: 14 additions & 11 deletions api/src/opentrons/hardware_control/instruments/nozzle_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -200,15 +200,17 @@ 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]],
pick_up_current_map: Dict[int, float],
) -> "NozzleConfigurationManager":

sorted_nozzlemap = list(nozzle_map.keys())
Expand All @@ -224,12 +226,16 @@ def build_from_nozzlemap(
back_left_nozzle=first_nozzle,
front_right_nozzle=last_nozzle,
)
return cls(starting_nozzle_config, current_scalar)
return cls(starting_nozzle_config, pick_up_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,
Expand All @@ -256,13 +262,10 @@ 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)
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nit: i would love it if the nozzle configuration objects had like tip_count property that did this or something but it's ok if it works

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sure can do that

]

def critical_point_with_tip_length(
self,
Expand Down
11 changes: 8 additions & 3 deletions api/src/opentrons/hardware_control/instruments/ot2/pipette.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down Expand Up @@ -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]
Expand Down Expand Up @@ -201,8 +202,12 @@ 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:
Expand Down
2 changes: 1 addition & 1 deletion api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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),
Expand Down
10 changes: 7 additions & 3 deletions api/src/opentrons/hardware_control/instruments/ot3/pipette.py
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Original file line number Diff line number Diff line change
@@ -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

Expand Down Expand Up @@ -165,8 +165,12 @@ 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:
Expand Down
9 changes: 7 additions & 2 deletions api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down Expand Up @@ -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,
Expand Down Expand Up @@ -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),
Expand Down
2 changes: 1 addition & 1 deletion api/tests/opentrons/hardware_control/instruments/test_nozzle_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ 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, pick_up_current_map={1: 0.1}
)


Expand Down
2 changes: 1 addition & 1 deletion api/tests/opentrons/hardware_control/test_pipette.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
6 changes: 6 additions & 0 deletions api/tests/opentrons/hardware_control/test_pipette_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down Expand Up @@ -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(
Expand Down
13 changes: 11 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
"model": "p10",
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"current": 0.4,
"speed": 30.0,
"presses": 3,
"increment": 1.0,
Expand Down Expand Up @@ -34,7 +33,17 @@
},
"partialTipConfigurations": {
"partialTipSupported": true,
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
"perTipPickupCurrent": {
"1": 0.1,
"2": 0.1,
"3": 0.15,
"4": 0.2,
"5": 0.25,
"6": 0.3,
"7": 0.35,
"8": 0.4
}
},
"channels": 8,
"shaftDiameter": 1.0,
Expand Down
13 changes: 11 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
"model": "p10",
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"current": 0.4,
"speed": 30.0,
"presses": 3,
"increment": 1.0,
Expand Down Expand Up @@ -34,7 +33,17 @@
},
"partialTipConfigurations": {
"partialTipSupported": true,
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
"perTipPickupCurrent": {
"1": 0.1,
"2": 0.1,
"3": 0.15,
"4": 0.2,
"5": 0.25,
"6": 0.3,
"7": 0.35,
"8": 0.4
}
},
"channels": 8,
"shaftDiameter": 1.0,
Expand Down
13 changes: 11 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
"model": "p10",
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"current": 0.4,
"speed": 30.0,
"presses": 3,
"increment": 1.0,
Expand Down Expand Up @@ -34,7 +33,17 @@
},
"partialTipConfigurations": {
"partialTipSupported": true,
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
"perTipPickupCurrent": {
"1": 0.1,
"2": 0.1,
"3": 0.15,
"4": 0.2,
"5": 0.25,
"6": 0.3,
"7": 0.35,
"8": 0.4
}
},
"channels": 8,
"shaftDiameter": 1.0,
Expand Down
13 changes: 11 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
"model": "p10",
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"current": 0.55,
"speed": 30.0,
"presses": 3,
"increment": 3.0,
Expand Down Expand Up @@ -34,7 +33,17 @@
},
"partialTipConfigurations": {
"partialTipSupported": true,
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
"perTipPickupCurrent": {
"1": 0.1,
"2": 0.14,
"3": 0.21,
"4": 0.28,
"5": 0.34,
"6": 0.41,
"7": 0.48,
"8": 0.55
}
},
"channels": 8,
"shaftDiameter": 1.0,
Expand Down
13 changes: 11 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
"model": "p10",
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"current": 0.55,
"speed": 30.0,
"presses": 3,
"increment": 3.0,
Expand Down Expand Up @@ -34,7 +33,17 @@
},
"partialTipConfigurations": {
"partialTipSupported": true,
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
"perTipPickupCurrent": {
"1": 0.1,
"2": 0.14,
"3": 0.21,
"4": 0.28,
"5": 0.34,
"6": 0.41,
"7": 0.48,
"8": 0.55
}
},
"channels": 8,
"shaftDiameter": 1.0,
Expand Down
15 changes: 12 additions & 3 deletions shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json
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Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
{
"$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json",
"displayName": "Flex 8-Channel 1000 μL",
"displayName": "Flex 8-Channel 1000 \u03bcL",
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"model": "p1000",
"displayCategory": "FLEX",
"pickUpTipConfigurations": {
"current": 0.5,
"presses": 1,
"speed": 10,
"increment": 0.0,
Expand Down Expand Up @@ -40,7 +39,17 @@
},
"partialTipConfigurations": {
"partialTipSupported": true,
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
"perTipPickupCurrent": {
"1": 0.15,
"2": 0.13,
"3": 0.19,
"4": 0.25,
"5": 0.31,
"6": 0.38,
"7": 0.44,
"8": 0.5
}
},
"backCompatNames": [],
"channels": 8,
Expand Down
13 changes: 11 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
"model": "p1000",
"displayCategory": "FLEX",
"pickUpTipConfigurations": {
"current": 0.5,
"presses": 1,
"speed": 10,
"increment": 0.0,
Expand Down Expand Up @@ -40,7 +39,17 @@
},
"partialTipConfigurations": {
"partialTipSupported": true,
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8],
"perTipPickupCurrent": {
"1": 0.15,
"2": 0.13,
"3": 0.19,
"4": 0.25,
"5": 0.31,
"6": 0.38,
"7": 0.44,
"8": 0.5
}
},
"backCompatNames": [],
"channels": 8,
Expand Down
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