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feat(api): segment 96-channel tip pickup and dropoff moves #13669

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merged 19 commits into from
Oct 20, 2023
Merged

feat(api): segment 96-channel tip pickup and dropoff moves #13669

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dc79976
split 96 pickup and dropoff
caila-marashaj Sep 27, 2023
8cb0012
get rid of update_config_files changes
caila-marashaj Sep 27, 2023
f20cb3d
format
caila-marashaj Sep 27, 2023
63bcb60
refactor PickUpTipPressSpec
caila-marashaj Sep 27, 2023
ed706be
accumulate pickup distances, fix drop tip
caila-marashaj Sep 28, 2023
78c554c
make sure tiprack_up is there before using
caila-marashaj Oct 3, 2023
91d8128
fixed test vals
caila-marashaj Oct 3, 2023
87ecd0d
condense dataclasses
caila-marashaj Oct 12, 2023
c378287
add optional check for current_vol
caila-marashaj Oct 12, 2023
c33d9d2
remove unnecessary test change
caila-marashaj Oct 12, 2023
fd9788e
remove extra comment
caila-marashaj Oct 12, 2023
320832e
set current for force and 96ch operations individually
caila-marashaj Oct 16, 2023
d1ed754
update calls to tipaction dataclasses in tests
caila-marashaj Oct 18, 2023
a5cdd05
add new configs to schema
caila-marashaj Oct 18, 2023
1a91dda
change current for force drop tip
caila-marashaj Oct 18, 2023
e160ecb
separate lt and ht plan functions
caila-marashaj Oct 18, 2023
189261b
dont need mount arg for ht planning
caila-marashaj Oct 20, 2023
a77413a
add end z retract for low throughput
caila-marashaj Oct 20, 2023
759620c
use move_rel before pickup
caila-marashaj Oct 20, 2023
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8 changes: 8 additions & 0 deletions api/src/opentrons/hardware_control/instruments/ot3/pipette.py
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Original file line number Diff line number Diff line change
Expand Up @@ -513,6 +513,14 @@ def has_tip(self) -> bool:
def tip_presence_check_dist_mm(self) -> float:
return self._config.tip_presence_check_distance_mm

@property
def connect_tiprack_distance_mm(self) -> float:
return self._config.connect_tiprack_distance_mm

@property
def end_tip_action_retract_distance_mm(self) -> float:
return self._config.end_tip_action_retract_distance_mm

# Cache max is chosen somewhat arbitrarily. With a float is input we don't
# want this to unbounded.
@functools.lru_cache(maxsize=100)
Expand Down
302 changes: 121 additions & 181 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 @@ -9,8 +9,6 @@
Any,
cast,
List,
Sequence,
Iterator,
TypeVar,
)
from typing_extensions import Final
Expand Down Expand Up @@ -72,59 +70,21 @@ class LiquidActionSpec:
current: float


# TODO during refactor we should figure out if
# we still need these dataclasses


@dataclass(frozen=True)
class PickUpTipPressSpec:
relative_down: top_types.Point
relative_up: top_types.Point
current: Dict[Axis, float]
speed: float


@dataclass(frozen=True)
class TipMotorPickUpTipSpec:
tiprack_down: top_types.Point
tiprack_up: top_types.Point
pick_up_distance: float
speed: float
currents: Dict[Axis, float]
# FIXME we should throw this in a config
# file of some sort
home_buffer: float = 0


@dataclass(frozen=True)
class PickUpTipSpec:
plunger_prep_pos: float
plunger_currents: Dict[Axis, float]
presses: List[PickUpTipPressSpec]
shake_off_list: List[Tuple[top_types.Point, Optional[float]]]
retract_target: float
pick_up_motor_actions: Optional[TipMotorPickUpTipSpec]


@dataclass(frozen=True)
class DropTipMove:
target_position: float
current: Dict[Axis, float]
class TipActionMoveSpec:
distance: float
currents: Optional[Dict[Axis, float]]
speed: Optional[float]
home_after: bool = False
home_after_safety_margin: float = 0
home_axes: Sequence[Axis] = tuple()
is_ht_tip_action: bool = False
# FIXME we should throw this in a config
# file of some sort
home_buffer: float = 0


@dataclass(frozen=True)
class DropTipSpec:
drop_moves: List[DropTipMove]
shake_moves: List[Tuple[top_types.Point, Optional[float]]]
ending_current: Dict[Axis, float]
class TipActionSpec:
tip_action_moves: List[
TipActionMoveSpec
]
shake_off_moves: List[Tuple[top_types.Point, Optional[float]]]
z_distance_to_tiprack: Optional[float] = None
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can these be moves?

ending_z_retract_distance: Optional[float] = None


class OT3PipetteHandler:
Expand Down Expand Up @@ -704,6 +664,34 @@ def plan_check_blow_out(
current=instrument.plunger_motor_current.run,
)

@staticmethod
def _build_tip_motor_moves(
prep_move_dist: float,
clamp_move_dist: float,
prep_move_speed: float,
clamp_move_speed: float,
tip_motor_current: float,
plunger_current: float,
) -> List[TipActionMoveSpec]:
return [
TipActionMoveSpec(
distance=prep_move_dist,
speed=prep_move_speed,
currents={
Axis.P_L: plunger_current,
Axis.Q: tip_motor_current,
},
),
TipActionMoveSpec(
distance=prep_move_dist + clamp_move_dist,
speed=clamp_move_speed,
currents={
Axis.P_L: plunger_current,
Axis.Q: tip_motor_current,
},
),
]

@staticmethod
def _build_pickup_shakes(
instrument: Pipette,
Expand All @@ -723,23 +711,41 @@ def build_one_shake() -> List[Tuple[top_types.Point, Optional[float]]]:

return []

def plan_check_pick_up_tip(
def plan_ht_pick_up_tip(self, mount) -> TipActionSpec:
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# Prechecks: ready for pickup tip and press/increment are valid
instrument = self.get_pipette(mount)
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_motor_moves = self._build_tip_motor_moves(
prep_move_dist=instrument.pick_up_configurations.prep_move_distance,
clamp_move_dist=instrument.pick_up_configurations.distance,
prep_move_speed=instrument.pick_up_configurations.prep_move_speed,
clamp_move_speed=instrument.pick_up_configurations.speed,
plunger_current=instrument.plunger_motor_current.run,
tip_motor_current=instrument.pick_up_configurations.current,
)

return TipActionSpec(
tip_action_moves=tip_motor_moves,
shake_off_moves=[],
z_distance_to_tiprack=(-1 * instrument.connect_tiprack_distance_mm),
ending_z_retract_distance=instrument.end_tip_action_retract_distance_mm,
)

def plan_lt_pick_up_tip(
self,
mount: OT3Mount,
tip_length: float,
presses: Optional[int],
increment: Optional[float],
) -> Tuple[PickUpTipSpec, Callable[[], None]]:
) -> TipActionSpec:
# Prechecks: ready for pickup tip and press/increment are valid
instrument = self.get_pipette(mount)
if instrument.has_tip:
raise UnexpectedTipAttachError("pick_up_tip", instrument.name, mount.name)
self._ihp_log.debug(f"Picking up tip on {mount.name}")

def add_tip_to_instr() -> None:
instrument.add_tip(tip_length=tip_length)
instrument.set_current_volume(0)

if presses is None or presses < 0:
checked_presses = instrument.pick_up_configurations.presses
else:
Expand All @@ -752,71 +758,41 @@ def add_tip_to_instr() -> None:

pick_up_speed = instrument.pick_up_configurations.speed

def build_presses() -> Iterator[Tuple[float, float]]:
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 * instrument.pick_up_configurations.distance
+ -1.0 * check_incr * i
)
# move nozzle back up
backup_dist = -press_dist
yield (press_dist, backup_dist)

if instrument.channels == 96:
return (
PickUpTipSpec(
plunger_prep_pos=instrument.plunger_positions.bottom,
plunger_currents={
Axis.of_main_tool_actuator(
mount
): instrument.plunger_motor_current.run,
},
presses=[],
shake_off_list=[],
retract_target=instrument.pick_up_configurations.distance,
pick_up_motor_actions=TipMotorPickUpTipSpec(
# Move onto the posts
tiprack_down=top_types.Point(0, 0, -7),
tiprack_up=top_types.Point(0, 0, 2),
pick_up_distance=instrument.pick_up_configurations.distance,
speed=instrument.pick_up_configurations.speed,
currents={Axis.Q: instrument.pick_up_configurations.current},
home_buffer=10,
),
),
add_tip_to_instr,
)
return (
PickUpTipSpec(
plunger_prep_pos=instrument.plunger_positions.bottom,
plunger_currents={
Axis.of_main_tool_actuator(
mount
): instrument.plunger_motor_current.run
},
presses=[
PickUpTipPressSpec(
current={
press_moves.append(
TipActionMoveSpec(
distance=press_dist,
speed=pick_up_speed,
currents={
Axis.by_mount(
mount
): instrument.pick_up_configurations.current
},
)
)
# move nozzle back up
backup_dist = -press_dist
press_moves.append(
TipActionMoveSpec(
distance=backup_dist,
speed=pick_up_speed,
relative_down=top_types.Point(0, 0, press_dist),
relative_up=top_types.Point(0, 0, backup_dist),
currents=None,
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)
for press_dist, backup_dist in build_presses()
],
shake_off_list=self._build_pickup_shakes(instrument),
retract_target=instrument.pick_up_configurations.distance
+ check_incr * checked_presses
+ 2,
pick_up_motor_actions=None,
),
add_tip_to_instr,
)
return press_moves

return TipActionSpec(
tip_action_moves=build_presses(),
shake_off_moves=self._build_pickup_shakes(instrument),
)

@staticmethod
Expand All @@ -839,89 +815,53 @@ def _shake_off_tips_drop(
(top_types.Point(0, 0, DROP_TIP_RELEASE_DISTANCE), None), # top
]

def _droptip_sequence_builder(
self,
bottom_pos: float,
droptip_pos: float,
plunger_currents: Dict[Axis, float],
drop_tip_currents: Dict[Axis, float],
speed: float,
home_after: bool,
home_axes: Sequence[Axis],
is_ht_pipette: bool = False,
) -> Callable[[], List[DropTipMove]]:
def build() -> List[DropTipMove]:
base = [
DropTipMove(
target_position=bottom_pos, current=plunger_currents, speed=None
),
DropTipMove(
target_position=droptip_pos,
current=drop_tip_currents,
speed=speed,
home_after=home_after,
home_after_safety_margin=abs(bottom_pos - droptip_pos),
home_axes=home_axes,
is_ht_tip_action=is_ht_pipette,
home_buffer=10 if is_ht_pipette else 0,
),
DropTipMove( # always finish drop-tip at a known safe plunger position
target_position=bottom_pos, current=plunger_currents, speed=None
),
]
return base

return build

def plan_check_drop_tip(
def plan_lt_drop_tip(
self,
mount: OT3Mount,
home_after: bool,
) -> Tuple[DropTipSpec, Callable[[], None]]:
) -> TipActionSpec:
instrument = self.get_pipette(mount)

is_96_chan = instrument.channels == 96
drop_seq = [
TipActionMoveSpec(
distance=instrument.plunger_positions.drop_tip,
speed=instrument.drop_configurations.speed,
currents={
Axis.of_main_tool_actuator(
mount
): instrument.drop_configurations.current,
},
),
TipActionMoveSpec(
distance=instrument.plunger_positions.bottom,
speed=None,
currents={
Axis.of_main_tool_actuator(
mount
): instrument.plunger_motor_current.run,
},
),
]

bottom = instrument.plunger_positions.bottom
droptip = (
instrument.drop_configurations.distance
if is_96_chan
else instrument.plunger_positions.drop_tip
return TipActionSpec(
tip_action_moves=drop_seq,
shake_off_moves=[],
)
speed = instrument.drop_configurations.speed
shakes: List[Tuple[top_types.Point, Optional[float]]] = []

def _remove_tips() -> None:
instrument.set_current_volume(0)
instrument.current_tiprack_diameter = 0.0
instrument.remove_tip()
def plan_ht_drop_tip(self, mount: OT3Mount) -> TipActionSpec:
instrument = self.get_pipette(mount)

drop_tip_current_axis = (
Axis.Q if is_96_chan else Axis.of_main_tool_actuator(mount)
)
seq_builder_ot3 = self._droptip_sequence_builder(
bottom,
droptip,
{Axis.of_main_tool_actuator(mount): instrument.plunger_motor_current.run},
{drop_tip_current_axis: instrument.drop_configurations.current},
speed,
home_after,
(Axis.of_main_tool_actuator(mount),),
is_96_chan,
drop_seq = self._build_tip_motor_moves(
prep_move_dist=instrument.drop_configurations.prep_move_distance,
clamp_move_dist=instrument.drop_configurations.distance,
prep_move_speed=instrument.drop_configurations.prep_move_speed,
clamp_move_speed=instrument.drop_configurations.speed,
plunger_current=instrument.plunger_motor_current.run,
tip_motor_current=instrument.drop_configurations.current,
)

seq_ot3 = seq_builder_ot3()
return (
DropTipSpec(
drop_moves=seq_ot3,
shake_moves=shakes,
ending_current={
Axis.of_main_tool_actuator(
mount
): instrument.plunger_motor_current.run
},
),
_remove_tips,
return TipActionSpec(
tip_action_moves=drop_seq,
shake_off_moves=[],
)

def has_pipette(self, mount: OT3Mount) -> bool:
Expand Down
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