fix up formatting, lint and tests

api/src/opentrons/protocol_api/core/engine/robot.py

@@ -10,7 +10,6 @@
 from opentrons.protocol_engine.types import DeckPoint, MotorAxis
 
 from opentrons.protocol_api.core.robot import AbstractRobot
-from opentrons.protocol_api._types import PlungerPositionTypes, PipetteActionTypes
 
 
 
@@ -45,6 +44,34 @@ def __init__(
     def _convert_to_engine_mount(self, axis_map: AxisMapType) -> Dict[MotorAxis, float]:
         return {_AXIS_TYPE_TO_MOTOR_AXIS[ax]: dist for ax, dist in axis_map.items()}
 
+<<<<<<< HEAD
+=======
+    def _ul_per_mm_conversion(
+        self,
+        pipette_settings: SupportedTipsDefinition,
+        ul: float,
+        action: PipetteActionTypes,
+    ) -> float:
+        if action == PipetteActionTypes.ASPIRATE_ACTION:
+            fallback = pipette_settings.aspirate.default[
+                PIPETTING_FUNCTION_FALLBACK_VERSION
+            ]
+            sequence = pipette_settings.aspirate.default.get(
+                PIPETTING_FUNCTION_LATEST_VERSION, fallback
+            )
+        elif action == PipetteActionTypes.BLOWOUT_ACTION:
+            # TODO in followup work we should support handling blow out actions for volume.
+            return 1.0
+        else:
+            fallback = pipette_settings.aspirate.default[
+                PIPETTING_FUNCTION_FALLBACK_VERSION
+            ]
+            sequence = pipette_settings.dispense.default.get(
+                PIPETTING_FUNCTION_LATEST_VERSION, fallback
+            )
+        return piecewise_volume_conversion(ul, sequence)
+
+>>>>>>> fix up formatting, lint and tests
     def get_pipette_type_from_engine(
         self, mount: Union[Mount, str]
     ) -> Optional[pip_types.PipetteNameType]:
@@ -89,12 +116,20 @@ def get_plunger_position_from_volume(
                 maybe_pipette.id, "bottom"
             )
         )
+<<<<<<< HEAD
+=======
+        tip_settings = maybe_pipette_state["supported_tips"][converted_working_volume]
+        plunger_bottom = maybe_pipette_state["plunger_positions"]["bottom"]
+
+        convert_volume = self._ul_per_mm_conversion(tip_settings, volume, action)
+
+>>>>>>> fix up formatting, lint and tests
         mm = volume / convert_volume
         if robot_type == "OT-2 Standard":
             position = plunger_bottom + mm
         else:
             position = plunger_bottom - mm
-        return round(position, 6)
+        return round(position, 6)  # type: ignore[no-any-return]
 
     def move_to(self, mount: Mount, destination: Point, speed: Optional[float]) -> None:
         engine_mount = MountType[mount.name]

api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py

@@ -275,10 +275,6 @@ def load_robot(self) -> None:  # type: ignore
         """Load an adapter using its identifying parameters"""
         raise APIVersionError(api_element="Loading robot")
 
-    def load_robot(self) -> None:  # type: ignore
-        """Load an adapter using its identifying parameters"""
-        raise APIVersionError(api_element="Loading robot")
-
     def move_labware(
         self,
         labware_core: LegacyLabwareCore,

api/src/opentrons/protocol_api/core/protocol.py

@@ -3,7 +3,7 @@
 from __future__ import annotations
 
 from abc import abstractmethod, ABC
-from typing import Generic, Type, List, Optional, Union, Tuple, Dict, TYPE_CHECKING
+from typing import Generic, List, Optional, Union, Tuple, Dict, TYPE_CHECKING
 
 from opentrons_shared_data.deck.types import DeckDefinitionV5, SlotDefV3
 from opentrons_shared_data.pipette.types import PipetteNameType

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

@@ -550,56 +550,6 @@ def get_max_travel_z(self, pipette_id: str) -> float:
         tip_length = tip.length if tip is not None else 0
         return instrument_height - tip_length
 
-    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
-            )
-        else:
-            instrument_height = VIRTUAL_MAX_OT3_HEIGHT
-        tip_length = (
-            self._state_view.tips.get_tip_length(pipette.id) if pipette else 0.0
-        )
-
-        return instrument_height - tip_length
-
-    async def move_axes(
-        self,
-        axis_map: Dict[MotorAxis, float],
-        critical_point: Optional[Dict[MotorAxis, float]] = None,
-        speed: Optional[float] = None,
-    ) -> Dict[MotorAxis, float]:
-        """Move the give axes map. No-op in virtual implementation."""
-        mount = self.pick_mount_from_axis_map(axis_map)
-        current_position = await self.get_position_from_mount(mount)
-        axis_map[MotorAxis.X] = axis_map.get(MotorAxis.X, 0.0) + current_position[0]
-        axis_map[MotorAxis.Y] = axis_map.get(MotorAxis.Y, 0.0) + current_position[1]
-        if mount == Mount.RIGHT:
-            axis_map[MotorAxis.RIGHT_Z] = (
-                axis_map.get(MotorAxis.RIGHT_Z, 0.0) + current_position[2]
-            )
-        elif mount == Mount.EXTENSION:
-            axis_map[MotorAxis.EXTENSION_Z] = (
-                axis_map.get(MotorAxis.EXTENSION_Z, 0.0) + current_position[2]
-            )
-        else:
-            axis_map[MotorAxis.LEFT_Z] = (
-                axis_map.get(MotorAxis.LEFT_Z, 0.0) + current_position[2]
-            )
-        critical_point = critical_point or {}
-        return {ax: pos - critical_point.get(ax, 0.0) for ax, pos in axis_map.items()}
-
-    async def move_mount_to(
-        self, mount: Mount, waypoints: List[Waypoint], speed: Optional[float]
-    ) -> Point:
-        """Move the hardware mount to a waypoint. No-op in virtual implementation."""
-        assert len(waypoints) > 0, "Must have at least one waypoint"
-        return waypoints[-1].position
-
     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)