hook up the acceleartion setting through the stack, default it to 0 e…

…verywhere
Opentrons · Nov 1, 2024 · 901d4cf · 901d4cf
1 parent 1ffba34
commit 901d4cf
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Showing 11 changed files with 17 additions and 0 deletions.
diff --git a/api/src/opentrons/config/defaults_ot3.py b/api/src/opentrons/config/defaults_ot3.py
@@ -31,6 +31,7 @@
     plunger_reset_offset=2.0,
     samples_for_baselining=20,
     sample_time_sec=0.004,
+    mount_acceleration=0,
 )
 
 DEFAULT_CALIBRATION_SETTINGS: Final[OT3CalibrationSettings] = OT3CalibrationSettings(
@@ -322,6 +323,9 @@ def _build_default_liquid_probe(
             "samples_for_baselining", default.samples_for_baselining
         ),
         sample_time_sec=from_conf.get("sample_time_sec", default.sample_time_sec),
+        mount_acceleration=from_conf.get(
+            "mount_acceleration", default.mount_acceleration
+        ),
     )
 
 

diff --git a/api/src/opentrons/config/types.py b/api/src/opentrons/config/types.py
@@ -127,6 +127,7 @@ class LiquidProbeSettings:
     plunger_reset_offset: float
     samples_for_baselining: int
     sample_time_sec: float
+    mount_acceleration: float
 
 
 @dataclass(frozen=True)

diff --git a/api/src/opentrons/hardware_control/backends/flex_protocol.py b/api/src/opentrons/hardware_control/backends/flex_protocol.py
@@ -159,6 +159,7 @@ async def liquid_probe(
         response_queue: Optional[
             asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
         ] = None,
+        mount_acceleration: float = 0.0,
     ) -> float:
         ...
 

diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -1375,6 +1375,7 @@ async def liquid_probe(
         response_queue: Optional[
             asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
         ] = None,
+        mount_acceleration: float = 0.0,
     ) -> float:
         head_node = axis_to_node(Axis.by_mount(mount))
         tool = sensor_node_for_pipette(OT3Mount(mount.value))

diff --git a/api/src/opentrons/hardware_control/backends/ot3simulator.py b/api/src/opentrons/hardware_control/backends/ot3simulator.py
@@ -353,6 +353,7 @@ async def liquid_probe(
         response_queue: Optional[
             asyncio.Queue[Dict[SensorId, List[SensorDataType]]]
         ] = None,
+        mount_acceleration: float = 0.0,
     ) -> float:
         z_axis = Axis.by_mount(mount)
         pos = self._position

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -2656,6 +2656,7 @@ async def _liquid_probe_pass(
             probe=probe,
             force_both_sensors=force_both_sensors,
             response_queue=response_queue,
+            mount_acceleration=probe_settings.mount_acceleration,
         )
         machine_pos = await self._backend.update_position()
         machine_pos[Axis.by_mount(mount)] = end_z

diff --git a/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py b/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py
@@ -183,6 +183,7 @@ def fake_liquid_settings() -> LiquidProbeSettings:
         plunger_reset_offset=2.0,
         samples_for_baselining=20,
         sample_time_sec=0.004,
+        mount_acceleration=0,
     )
 
 

diff --git a/api/tests/opentrons/hardware_control/test_ot3_api.py b/api/tests/opentrons/hardware_control/test_ot3_api.py
@@ -126,6 +126,7 @@ def fake_liquid_settings() -> LiquidProbeSettings:
         plunger_reset_offset=2.0,
         samples_for_baselining=20,
         sample_time_sec=0.004,
+        mount_acceleration=0,
     )
 
 
@@ -829,6 +830,7 @@ async def test_liquid_probe(
             plunger_reset_offset=2.0,
             samples_for_baselining=20,
             sample_time_sec=0.004,
+            mount_acceleration=0,
         )
         fake_max_z_dist = 10.0
         non_responsive_z_mm = ot3_hardware.liquid_probe_non_responsive_z_distance(
@@ -1097,6 +1099,7 @@ async def test_multi_liquid_probe(
             plunger_reset_offset=2.0,
             samples_for_baselining=20,
             sample_time_sec=0.004,
+            mount_acceleration=0,
         )
         fake_max_z_dist = 10.0
         await ot3_hardware.liquid_probe(
@@ -1173,6 +1176,7 @@ async def _fake_pos_update_and_raise(
         plunger_reset_offset=2.0,
         samples_for_baselining=20,
         sample_time_sec=0.004,
+        mount_acceleration=0.0,
     )
     # with a mount speed of 5, pass overlap of 0.5 and a 0.2s delay on z
     # the actual distance traveled is 3.5mm per pass

diff --git a/hardware-testing/hardware_testing/gravimetric/config.py b/hardware-testing/hardware_testing/gravimetric/config.py
@@ -174,6 +174,7 @@ def _get_liquid_probe_settings(
         plunger_reset_offset=2.0,
         samples_for_baselining=20,
         sample_time_sec=0.004,
+        mount_acceleration=0,
     )
 
 

diff --git a/hardware-testing/hardware_testing/liquid_sense/execute.py b/hardware-testing/hardware_testing/liquid_sense/execute.py
@@ -450,6 +450,7 @@ def _run_trial(
         plunger_reset_offset=2.0,
         samples_for_baselining=20,
         sample_time_sec=0.004,
+        mount_acceleration=0,
     )
 
     hw_mount = OT3Mount.LEFT if run_args.pipette.mount == "left" else OT3Mount.RIGHT

diff --git a/hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py b/hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py
@@ -1383,6 +1383,7 @@ async def _test_liquid_probe(
                 plunger_reset_offset=2.0,
                 samples_for_baselining=20,
                 sample_time_sec=0.004,
+                mount_acceleration=0,
             )
             end_z = await api.liquid_probe(
                 mount, max_z_distance_machine_coords, probe_settings, probe=probe