fix more linter errors

api/src/opentrons/protocol_api/protocol_context.py

@@ -218,14 +218,14 @@ def api_version(self) -> APIVersion:
         return self._api_version
 
     @property
-    @requires_version(2, 21)
+    @requires_version(2, 22)
     def robot(self) -> RobotContext:
         """The :py:class:`.RobotContext` for the protocol.
 
         :meta private:
         """
         if self._core.robot_type != "OT-3 Standard" or not self._robot:
-            raise RobotTypeError("The RobotContext is only available on Flex robot.")
+            raise RobotTypeError("The RobotContext is only available on Flex robots.")
         return self._robot
 
     @property

api/src/opentrons/protocol_api/robot_context.py

@@ -56,7 +56,7 @@ def __init__(
         self._api_version = api_version
 
     @property
-    @requires_version(2, 21)
+    @requires_version(2, 22)
     def api_version(self) -> APIVersion:
         return self._api_version
 
@@ -67,7 +67,7 @@ def hardware(self) -> HardwareManager:
         # context commands.
         return self._hardware
 
-    @requires_version(2, 21)
+    @requires_version(2, 22)
     def move_to(
         self,
         mount: Union[Mount, str],
@@ -88,7 +88,7 @@ def move_to(
         mount = validation.ensure_instrument_mount(mount)
         self._core.move_to(mount, destination.point, speed)
 
-    @requires_version(2, 21)
+    @requires_version(2, 22)
     def move_axes_to(
         self,
         axis_map: Union[AxisMapType, StringAxisMap],
@@ -120,7 +120,7 @@ def move_axes_to(
             critical_point = None
         self._core.move_axes_to(axis_map, critical_point, speed)
 
-    @requires_version(2, 21)
+    @requires_version(2, 22)
     def move_axes_relative(
         self,
         axis_map: Union[AxisMapType, StringAxisMap],

api/src/opentrons/protocol_engine/execution/gantry_mover.py

@@ -33,7 +33,7 @@
     MotorAxis.RIGHT_PLUNGER: HardwareAxis.C,
     MotorAxis.EXTENSION_Z: HardwareAxis.Z_G,
     MotorAxis.EXTENSION_JAW: HardwareAxis.G,
-    MotorAxis.CLAMP_JAW_96_CHANNEL: HardwareAxis.Q,
+    MotorAxis.AXIS_96_CHANNEL_CAM: HardwareAxis.Q,
 }
 
 _MOTOR_AXIS_TO_HARDWARE_MOUNT: Dict[MotorAxis, Mount] = {
@@ -61,7 +61,7 @@
     HardwareAxis.Z_R: MotorAxis.RIGHT_Z,
     HardwareAxis.Z_G: MotorAxis.EXTENSION_Z,
     HardwareAxis.G: MotorAxis.EXTENSION_JAW,
-    HardwareAxis.Q: MotorAxis.CLAMP_JAW_96_CHANNEL,
+    HardwareAxis.Q: MotorAxis.AXIS_96_CHANNEL_CAM,
 }
 
 # The height of the bottom of the pipette nozzle at home position without any tips.
@@ -328,7 +328,7 @@ async def move_axes(
             axis_map: The mapping of axes to command.
             critical_point: A critical point override for axes
             speed: Optional speed parameter for the move.
-            relative_move: Specifying whether a relative move needs to be handled or not.
+            relative_move: Whether the axis map needs to be converted from a relative to absolute move.
         """
         try:
             pos_hw = self._convert_axis_map_for_hw(axis_map)
@@ -544,10 +544,8 @@ def get_max_travel_z_from_mount(self, mount: MountType) -> float:
         """Get the maximum allowed z-height for mount."""
         pipette = self._state_view.pipettes.get_by_mount(mount)
         if self._state_view.config.robot_type == "OT-2 Standard":
-            instrument_height = (
-                self._state_view.pipettes.get_instrument_max_height_ot2(pipette.id)
-                if pipette
-                else VIRTUAL_MAX_OT3_HEIGHT
+            instrument_height = self._state_view.pipettes.get_instrument_max_height_ot2(
+                pipette.id
             )
         else:
             instrument_height = VIRTUAL_MAX_OT3_HEIGHT

api/src/opentrons/protocol_engine/execution/movement.py

@@ -147,6 +147,7 @@ async def move_to_well(
     async def move_mount_to(
         self, mount: MountType, destination: DeckPoint, speed: Optional[float] = None
     ) -> Point:
+        """Move mount to a specific location on the deck."""
         hw_mount = mount.to_hw_mount()
         await self._gantry_mover.prepare_for_mount_movement(hw_mount)
         origin = await self._gantry_mover.get_position_from_mount(mount=hw_mount)

api/src/opentrons/protocol_engine/types.py

@@ -442,7 +442,7 @@ class MotorAxis(str, Enum):
     RIGHT_PLUNGER = "rightPlunger"
     EXTENSION_Z = "extensionZ"
     EXTENSION_JAW = "extensionJaw"
-    CLAMP_JAW_96_CHANNEL = "clampJaw96Channel"
+    AXIS_96_CHANNEL_CAM = "axis96ChannelCam"
 
 
 # TODO(mc, 2022-01-18): use opentrons_shared_data.module.types.ModuleModel

api/src/opentrons/types.py

@@ -294,7 +294,7 @@ def ot2_axes(cls) -> List["AxisType"]:
         ]
 
     @classmethod
-    def ot3_gantry_axes(cls) -> List["AxisType"]:
+    def flex_gantry_axes(cls) -> List["AxisType"]:
         return [
             AxisType.X,
             AxisType.Y,
@@ -316,6 +316,7 @@ def ot2_gantry_axes(cls) -> List["AxisType"]:
 AxisMapType = Dict[AxisType, float]
 StringAxisMap = Dict[str, float]
 
+
 # TODO(mc, 2020-11-09): this makes sense in shared-data or other common
 # model library
 # https://github.com/Opentrons/opentrons/pull/6943#discussion_r519029833

api/tests/opentrons/protocol_api/test_robot_context.py

@@ -1,3 +1,4 @@
+"""Test the functionality of the `RobotContext`."""
 import pytest
 from decoy import Decoy
 from typing import Union, Optional
@@ -32,6 +33,7 @@ def api_version() -> APIVersion:
 
 @pytest.fixture
 def mock_deck(decoy: Decoy) -> Deck:
+    """Get a mocked deck object."""
     deck = decoy.mock(cls=Deck)
     decoy.when(deck.get_slot_center(DeckSlotName.SLOT_D1.value)).then_return(
         Point(3, 3, 3)

api/tests/opentrons/protocol_api/test_validation.py

@@ -595,6 +595,7 @@ def test_ensure_axis_map_type_success(
     is_96_channel: bool,
     expected_axis_map: AxisMapType,
 ) -> None:
+    """Check that axis map type validation returns the correct shape."""
     res = subject.ensure_axis_map_type(axis_map, robot_type, is_96_channel)
     assert res == expected_axis_map
 
@@ -634,6 +635,7 @@ def test_ensure_axis_map_type_failure(
     is_96_channel: bool,
     error_message: str,
 ) -> None:
+    """Check that axis_map validation occurs for the given scenarios."""
     with pytest.raises(subject.IncorrectAxisError, match=error_message):
         subject.ensure_axis_map_type(axis_map, robot_type, is_96_channel)
 
@@ -656,5 +658,6 @@ def test_ensure_axis_map_type_failure(
 def test_ensure_only_gantry_axis_map_type(
     axis_map: AxisMapType, robot_type: RobotType, error_message: str
 ) -> None:
+    """Check that gantry axis_map validation occurs for the given scenarios."""
     with pytest.raises(subject.IncorrectAxisError, match=error_message):
         subject.ensure_only_gantry_axis_map_type(axis_map, robot_type)

api/tests/opentrons/protocol_engine/commands/robot/__init__.py

@@ -0,0 +1 @@
+"""Tests for Robot Module commands."""

api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py

@@ -501,7 +501,7 @@ async def test_home_z(
             },
         ],
         [
-            {MotorAxis.CLAMP_JAW_96_CHANNEL: 10.0},
+            {MotorAxis.AXIS_96_CHANNEL_CAM: 10.0},
             None,
             False,
             Mount.LEFT,
@@ -522,6 +522,7 @@ async def test_move_axes(
     call_to_hw: "OrderedDict[HardwareAxis, float]",
     final_position: Dict[HardwareAxis, float],
 ) -> None:
+    """Test the move axes function."""
     subject = HardwareGantryMover(
         state_view=mock_state_view, hardware_api=ot3_hardware_api
     )
@@ -690,10 +691,10 @@ async def test_virtual_move_to(
             {MotorAxis.X: 0.0, MotorAxis.Y: 0.0, MotorAxis.RIGHT_Z: 20},
         ],
         [
-            {MotorAxis.CLAMP_JAW_96_CHANNEL: 10},
+            {MotorAxis.AXIS_96_CHANNEL_CAM: 10},
             None,
             False,
-            {MotorAxis.CLAMP_JAW_96_CHANNEL: 10},
+            {MotorAxis.AXIS_96_CHANNEL_CAM: 10},
         ],
     ],
 )

hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py

@@ -620,14 +620,12 @@ async def move_tip_motor_relative_ot3(
         raise RuntimeError("No pipette found on LEFT mount")
 
     current_gear_pos = api._backend.gear_motor_position or 0.0
-    target_pos = {Axis.Q: current_gear_pos + distance}
+    target_pos = current_gear_pos + distance
 
     if speed is not None and distance < 0:
         speed *= -1
 
-    _move_coro = api._backend.tip_action(
-        current_gear_pos, [(target_pos, speed or 400)]
-    )
+    _move_coro = api._backend.tip_action(current_gear_pos, [(target_pos, speed or 400)])
     if motor_current is None:
         await _move_coro
     else: