removes unnecessary changes to api

Opentrons · Mar 16, 2023 · 8434e0b · 8434e0b
1 parent a3cffa0
commit 8434e0b
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Showing 5 changed files with 33 additions and 50 deletions.
diff --git a/api/src/opentrons/calibration_storage/ot2/tip_length.py b/api/src/opentrons/calibration_storage/ot2/tip_length.py
@@ -50,7 +50,7 @@ def tip_lengths_for_pipette(
                 pass
         return tip_lengths
     except FileNotFoundError:
-        log.info(f"Tip length calibrations not found for {pipette_id}")
+        log.warning(f"Tip length calibrations not found for {pipette_id}")
         return tip_lengths
 
 

diff --git a/api/src/opentrons/calibration_storage/ot3/tip_length.py b/api/src/opentrons/calibration_storage/ot3/tip_length.py
@@ -49,7 +49,7 @@ def tip_lengths_for_pipette(
                 pass
         return tip_lengths
     except FileNotFoundError:
-        log.info(f"Tip length calibrations not found for {pipette_id}")
+        log.warning(f"Tip length calibrations not found for {pipette_id}")
         return tip_lengths
 
 

diff --git a/api/src/opentrons/config/defaults_ot3.py b/api/src/opentrons/config/defaults_ot3.py
@@ -102,18 +102,18 @@
 
 DEFAULT_ACCELERATIONS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={
-        OT3AxisKind.X: 500,
-        OT3AxisKind.Y: 500,
-        OT3AxisKind.Z: 50,
+        OT3AxisKind.X: 1000,
+        OT3AxisKind.Y: 1000,
+        OT3AxisKind.Z: 100,
         OT3AxisKind.P: 10,
         OT3AxisKind.Z_G: 20,
         OT3AxisKind.Q: 10,
     },
     low_throughput={
-        OT3AxisKind.X: 500,
-        OT3AxisKind.Y: 500,
-        OT3AxisKind.Z: 50,
-        OT3AxisKind.P: 20,
+        OT3AxisKind.X: 1000,
+        OT3AxisKind.Y: 1000,
+        OT3AxisKind.Z: 100,
+        OT3AxisKind.P: 50,
         OT3AxisKind.Z_G: 20,
     },
 )
@@ -122,39 +122,39 @@
     ByGantryLoad[Dict[OT3AxisKind, float]]
 ] = ByGantryLoad(
     high_throughput={
-        OT3AxisKind.X: 1,
-        OT3AxisKind.Y: 1,
-        OT3AxisKind.Z: 1,
-        OT3AxisKind.P: 1,
-        OT3AxisKind.Z_G: 1,
+        OT3AxisKind.X: 10,
+        OT3AxisKind.Y: 10,
+        OT3AxisKind.Z: 10,
+        OT3AxisKind.P: 10,
+        OT3AxisKind.Z_G: 10,
         OT3AxisKind.Q: 10,
     },
     low_throughput={
-        OT3AxisKind.X: 1,
-        OT3AxisKind.Y: 1,
-        OT3AxisKind.Z: 1,
-        OT3AxisKind.P: 1,
-        OT3AxisKind.Z_G: 1,
+        OT3AxisKind.X: 10,
+        OT3AxisKind.Y: 10,
+        OT3AxisKind.Z: 10,
+        OT3AxisKind.P: 10,
+        OT3AxisKind.Z_G: 10,
     },
 )
 
 DEFAULT_DIRECTION_CHANGE_SPEED_DISCONTINUITY: Final[
     ByGantryLoad[Dict[OT3AxisKind, float]]
 ] = ByGantryLoad(
     high_throughput={
-        OT3AxisKind.X: 1,
-        OT3AxisKind.Y: 1,
-        OT3AxisKind.Z: 1,
-        OT3AxisKind.P: 1,
-        OT3AxisKind.Q: 1,
-        OT3AxisKind.Z_G: 1,
+        OT3AxisKind.X: 5,
+        OT3AxisKind.Y: 5,
+        OT3AxisKind.Z: 5,
+        OT3AxisKind.P: 5,
+        OT3AxisKind.Q: 5,
+        OT3AxisKind.Z_G: 5,
     },
     low_throughput={
-        OT3AxisKind.X: 1,
-        OT3AxisKind.Y: 1,
-        OT3AxisKind.Z: 1,
-        OT3AxisKind.P: 1,
-        OT3AxisKind.Z_G: 1,
+        OT3AxisKind.X: 5,
+        OT3AxisKind.Y: 5,
+        OT3AxisKind.Z: 5,
+        OT3AxisKind.P: 5,
+        OT3AxisKind.Z_G: 5,
     },
 )
 

diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -517,7 +517,7 @@ def _build_home_pipettes_runner(
             if ax in OT3Axis.pipette_axes()
         }
         velocities_pipette = {
-            ax: -1 * 20
+            ax: -1 * speed_settings[OT3Axis.to_kind(ax)]
             for ax in axes
             if ax in OT3Axis.pipette_axes()
         }
@@ -546,7 +546,7 @@ def _build_home_gantry_z_runner(
             if ax in OT3Axis.gantry_axes() and ax not in OT3Axis.mount_axes()
         }
         velocities_gantry = {
-            ax: -1 * 50
+            ax: -1 * speed_settings[OT3Axis.to_kind(ax)]
             for ax in axes
             if ax in OT3Axis.gantry_axes() and ax not in OT3Axis.mount_axes()
         }
@@ -556,7 +556,7 @@ def _build_home_gantry_z_runner(
             if ax in OT3Axis.mount_axes()
         }
         velocities_z = {
-            ax: -1 * 20
+            ax: -1 * speed_settings[OT3Axis.to_kind(ax)]
             for ax in axes
             if ax in OT3Axis.mount_axes()
         }
@@ -1152,15 +1152,3 @@ async def get_temperature_humidity(
             self._messenger,
             sensor_node_for_mount(mount)
         )
-
-    async def connect_usb_to_rear_panel(self) -> None:
-        usb_driver = None
-        try:
-            usb_driver = await build_rear_panel_driver()
-        except IOError as e:
-            log.error(
-                "No rear panel device found, probably an EVT bot, disable rearPanelIntegration feature flag if it is"
-            )
-            raise e
-        self._usb_messenger = BinaryMessenger(usb_driver)
-        self._usb_messenger.start()
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -1264,11 +1264,6 @@ async def get_pipette_temperature_humidity(self, mount: OT3Mount) -> Tuple[float
         assert self.hardware_pipettes[mount.to_mount()], f"no pipette on mount {mount}"
         return await self._backend.get_temperature_humidity(mount)
 
-    async def _fast_home(
-        self, axes: Sequence[OT3Axis], margin: float
-    ) -> OT3AxisMap[float]:
-        return await self._backend.fast_home(axes, margin)
-
     @ExecutionManagerProvider.wait_for_running
     async def retract(
         self, mount: Union[top_types.Mount, OT3Mount], margin: float = 10