make plunger-pos adjustments automatic

Opentrons · Sep 12, 2023 · 70c94a4 · 70c94a4
1 parent 82114d4
commit 70c94a4
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Showing 2 changed files with 10 additions and 12 deletions.
diff --git a/hardware-testing/hardware_testing/gravimetric/__main__.py b/hardware-testing/hardware_testing/gravimetric/__main__.py
@@ -183,17 +183,6 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
         pipette_tag = helpers._get_tag_from_pipette(
             pipette, args.increment, args.user_volumes
         )
-        if args.plunger_bottom != 0.0:
-            hw_api = _ctx._core.get_hardware()
-            hw_mount = OT3Mount.LEFT if pipette.mount == "left" else OT3Mount.RIGHT
-            hw_pipette = hw_api.hardware_pipettes[hw_mount.to_mount()]
-            old_positions = hw_pipette.plunger_positions
-            assert (
-                args.plunger_bottom < old_positions.blow_out
-                and args.plunger_bottom > 0.0
-            )
-            old_positions.bottom = args.plunger_bottom
-            hw_pipette._set_plunger_positions(old_positions)
 
         recorder: Optional[GravimetricRecorder] = None
         kind = ConfigType.photometric if args.photometric else ConfigType.gravimetric
@@ -524,7 +513,6 @@ def _main(
     parser.add_argument("--ignore-fail", action="store_true")
     parser.add_argument("--photoplate-col-offset", type=int, default=1)
     parser.add_argument("--dye-well-col-offset", type=int, default=1)
-    parser.add_argument("--plunger-bottom", type=float, default=0.0)
     args = parser.parse_args()
     run_args = RunArgs.build_run_args(args)
     if not run_args.ctx.is_simulating():

diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py
@@ -196,6 +196,15 @@ def _blow_out_remaining_air() -> None:
         max_blow_out_ul = (blow_out - bottom) * blow_out_ul_per_mm
         hw_api.blow_out(hw_mount, max_blow_out_ul)
 
+    def _set_plunger_bottom() -> None:
+        # FIXME: this should be deleted immediately once low-volume mode is working
+        old_positions = hw_pipette.plunger_positions
+        if (aspirate and aspirate < 5) or (dispense and dispense < 5):
+            old_positions.bottom = 61.5
+        else:
+            old_positions.bottom = 71.5
+        hw_pipette._set_plunger_positions(old_positions)
+
     # ASPIRATE/DISPENSE SEQUENCE HAS THREE PHASES:
     #  1. APPROACH
     #  2. SUBMERGE
@@ -225,6 +234,7 @@ def _blow_out_remaining_air() -> None:
 
     # CREATE CALLBACKS FOR EACH PHASE
     def _aspirate_on_approach() -> None:
+        _set_plunger_bottom()
         hw_api.prepare_for_aspirate(hw_mount)
         if liquid_class.aspirate.leading_air_gap > 0:
             pipette.aspirate(liquid_class.aspirate.leading_air_gap)