fix(api): Home pipette used correct gantry load settings (#12742)

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -537,11 +537,13 @@ async def move(
         self._handle_motor_status_response(positions)
 
     def _build_home_pipettes_runner(
-        self, axes: Sequence[OT3Axis]
+        self,
+        axes: Sequence[OT3Axis],
+        gantry_load: GantryLoad,
     ) -> Optional[MoveGroupRunner]:
-        speed_settings = (
-            self._configuration.motion_settings.max_speed_discontinuity.low_throughput
-        )
+        speed_settings = self._configuration.motion_settings.max_speed_discontinuity[
+            gantry_load
+        ]
 
         distances_pipette = {
             ax: -1 * self.axis_bounds[ax][1] - self.axis_bounds[ax][0]
@@ -566,11 +568,13 @@ def _build_home_pipettes_runner(
         return None
 
     def _build_home_gantry_z_runner(
-        self, axes: Sequence[OT3Axis]
+        self,
+        axes: Sequence[OT3Axis],
+        gantry_load: GantryLoad,
     ) -> Optional[MoveGroupRunner]:
-        speed_settings = (
-            self._configuration.motion_settings.max_speed_discontinuity.low_throughput
-        )
+        speed_settings = self._configuration.motion_settings.max_speed_discontinuity[
+            gantry_load
+        ]
 
         distances_gantry = {
             ax: -1 * self.axis_bounds[ax][1] - self.axis_bounds[ax][0]
@@ -614,7 +618,9 @@ def _build_home_gantry_z_runner(
         return None
 
     @requires_update
-    async def home(self, axes: Sequence[OT3Axis]) -> OT3AxisMap[float]:
+    async def home(
+        self, axes: Sequence[OT3Axis], gantry_load: GantryLoad
+    ) -> OT3AxisMap[float]:
         """Home each axis passed in, and reset the positions to 0.
 
         Args:
@@ -631,8 +637,8 @@ async def home(self, axes: Sequence[OT3Axis]) -> OT3AxisMap[float]:
             return {}
 
         maybe_runners = (
-            self._build_home_gantry_z_runner(checked_axes),
-            self._build_home_pipettes_runner(checked_axes),
+            self._build_home_gantry_z_runner(checked_axes, gantry_load),
+            self._build_home_pipettes_runner(checked_axes, gantry_load),
         )
         coros = [
             runner.run(can_messenger=self._messenger)

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -300,7 +300,9 @@ async def move(
         self._encoder_position.update(final_positions)
 
     @ensure_yield
-    async def home(self, axes: Optional[List[OT3Axis]] = None) -> OT3AxisMap[float]:
+    async def home(
+        self, axes: Sequence[OT3Axis], gantry_load: GantryLoad
+    ) -> OT3AxisMap[float]:
         """Home axes.
 
         Args:

api/src/opentrons/hardware_control/ot3api.py

@@ -1201,10 +1201,10 @@ async def _retrieve_home_position() -> Tuple[
                     moves[0],
                     MoveStopCondition.none,
                 )
-            await self._backend.home([axis])
+            await self._backend.home([axis], self.gantry_load)
         else:
             # both stepper and encoder positions are invalid, must home
-            await self._backend.home([axis])
+            await self._backend.home([axis], self.gantry_load)
 
     async def _home(self, axes: Sequence[OT3Axis]) -> None:
         """Home one axis at a time."""
@@ -1214,7 +1214,7 @@ async def _home(self, axes: Sequence[OT3Axis]) -> None:
                     if axis == OT3Axis.G:
                         await self.home_gripper_jaw()
                     elif axis == OT3Axis.Q:
-                        await self._backend.home([axis])
+                        await self._backend.home([axis], self.gantry_load)
                     else:
                         await self._home_axis(axis)
                 except ZeroLengthMoveError:

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -253,7 +253,7 @@ async def test_home_execute(
     assert not controller._motor_status
 
     commanded_homes = set(axes)
-    await controller.home(axes)
+    await controller.home(axes, GantryLoad.LOW_THROUGHPUT)
     all_calls = list(chain([args[0][0] for args in mock_move_group_run.call_args_list]))
     for command in all_calls:
         for group in command._move_groups:
@@ -277,7 +277,7 @@ async def test_home_prioritize_mount(
     # nothing has been homed
     assert not controller._motor_status
 
-    await controller.home(axes)
+    await controller.home(axes, GantryLoad.LOW_THROUGHPUT)
     has_xy = len({OT3Axis.X, OT3Axis.Y} & set(axes)) > 0
     has_mount = len(set(OT3Axis.mount_axes()) & set(axes)) > 0
     run = mock_move_group_run.call_args_list[0][0][0]._move_groups
@@ -302,7 +302,7 @@ async def test_home_build_runners(
     mock_move_group_run.side_effect = move_group_run_side_effect(controller, axes)
     assert not controller._motor_status
 
-    await controller.home(axes)
+    await controller.home(axes, GantryLoad.LOW_THROUGHPUT)
     has_pipette = len(set(OT3Axis.pipette_axes()) & set(axes)) > 0
     has_gantry = len(set(OT3Axis.gantry_axes()) & set(axes)) > 0
 
@@ -348,7 +348,7 @@ async def test_home_only_present_devices(
 
     # nothing has been homed
     assert not controller._motor_status
-    await controller.home(axes)
+    await controller.home(axes, GantryLoad.LOW_THROUGHPUT)
 
     for call in mock_move_group_run.call_args_list:
         # pull the bound-self argument that is the runner instance out of
@@ -845,7 +845,7 @@ async def test_update_required_flag(
         controller._initialized = True
         controller._check_updates = True
         with pytest.raises(FirmwareUpdateRequired):
-            await controller.home(axes)
+            await controller.home(axes, GantryLoad.LOW_THROUGHPUT)
 
 
 async def test_update_required_bypass_firmware_update(controller: OT3Controller):

api/tests/opentrons/hardware_control/test_moves.py

@@ -10,6 +10,7 @@
     SourceType,
     CalibrationStatus,
 )
+from opentrons.config.types import GantryLoad
 from opentrons.hardware_control.types import (
     Axis,
     CriticalPoint,
@@ -87,8 +88,8 @@ async def test_home(ot3_hardware, mock_home):
     with mock.patch("opentrons.hardware_control.ot3api.deck_from_machine") as dfm_mock:
         dfm_mock.return_value = {OT3Axis.X: 20}
         await ot3_hardware._home([OT3Axis.X])
-
-        mock_home.assert_called_once_with([OT3Axis.X])
+        assert ot3_hardware.gantry_load == GantryLoad.LOW_THROUGHPUT
+        mock_home.assert_called_once_with([OT3Axis.X], GantryLoad.LOW_THROUGHPUT)
         assert dfm_mock.call_count == 2
         dfm_mock.assert_called_with(
             mock_home.return_value,
@@ -106,7 +107,8 @@ async def test_home_unmet(ot3_hardware, mock_home):
     mock_home.side_effect = MoveConditionNotMet()
     with pytest.raises(MoveConditionNotMet):
         await ot3_hardware.home([OT3Axis.X])
-    mock_home.assert_called_once_with([OT3Axis.X])
+    assert ot3_hardware.gantry_load == GantryLoad.LOW_THROUGHPUT
+    mock_home.assert_called_once_with([OT3Axis.X], GantryLoad.LOW_THROUGHPUT)
     assert ot3_hardware._current_position == {}