refactor(api): only restore changed currents #13683
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## edge #13683 +/- ##
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Coverage 71.10% 71.10%
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Files 2438 2438
Lines 68526 68526
Branches 8090 8090
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Hits 48727 48727
Misses 17905 17905
Partials 1894 1894
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| async def restore_current(self) -> AsyncIterator[None]: | ||
| """Save the current.""" | ||
| old_current_settings = deepcopy(self._current_settings) | ||
| async def restore_current( |
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kind of a nit i guess but really this isn't restore_current anymore, can we call it like motor_current or something
| @@ -252,7 +252,7 @@ async def _force_gauge( | |||
| force_output = [] | |||
| TH.start() | |||
| try: | |||
| async with api._backend.restore_current(): | |||
| async with api._backend.motor_current(): | |||
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The set_active_current call below should be merged into here
| @@ -152,7 +152,7 @@ async def _drop_tip(api: OT3API, trash: Point) -> None: | |||
| async def _partial_pick_up_z_motion( | |||
| api: OT3API, current: float, distance: float, speed: float | |||
| ) -> None: | |||
| async with api._backend.restore_current(): | |||
| async with api._backend.motor_current(): | |||
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The set_active_current call below should be merged into here
| @@ -613,7 +613,7 @@ async def move_tip_motor_relative_ot3( | |||
| if motor_current is None: | |||
| await _move_coro | |||
| else: | |||
| async with api._backend.restore_current(): | |||
| async with api._backend.motor_current(): | |||
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The set_active_current call below should be merged into here
| @@ -581,7 +581,7 @@ async def move_plunger_absolute_ot3( | |||
| if motor_current is None: | |||
| await _move_coro | |||
| else: | |||
| async with api._backend.restore_current(): | |||
| async with api._backend.motor_current(): | |||
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The set_active_current call below should be merged into here
Overview
This PR updates the
ot3controller.restore_currentfunction so it can optionally take in run currents and hold currents. Instead of unconditionally restoring all current settings for every present axis, now this function can intelligently restore only the ones that were changed.