chore(api): clean up lld hardware layer (#15200)

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# Overview

This PR removes some uneeded arguments and fixes a few #FIXME that were
hanging around

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# Test Plan

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- Added protocol that uses `dance-party` argument to G-Code Testing
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- Ran protocol that did not use `dance-party` argument and everything
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api/src/opentrons/config/defaults_ot3.py

@@ -25,7 +25,6 @@
 DEFAULT_LIQUID_PROBE_SETTINGS: Final[LiquidProbeSettings] = LiquidProbeSettings(
     starting_mount_height=100,
     max_z_distance=40,
-    min_z_distance=5,
     mount_speed=10,
     plunger_speed=5,
     sensor_threshold_pascals=40,
@@ -337,7 +336,6 @@ def _build_default_liquid_probe(
             "starting_mount_height", default.starting_mount_height
         ),
         max_z_distance=from_conf.get("max_z_distance", default.max_z_distance),
-        min_z_distance=from_conf.get("min_z_distance", default.min_z_distance),
         mount_speed=from_conf.get("mount_speed", default.mount_speed),
         plunger_speed=from_conf.get("plunger_speed", default.plunger_speed),
         sensor_threshold_pascals=from_conf.get(

api/src/opentrons/config/types.py

@@ -130,7 +130,6 @@ class OutputOptions(int, Enum):
 class LiquidProbeSettings:
     starting_mount_height: float
     max_z_distance: float
-    min_z_distance: float
     mount_speed: float
     plunger_speed: float
     sensor_threshold_pascals: float

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -194,6 +194,7 @@
     LiquidNotFoundError,
     CommunicationError,
     PythonException,
+    UnsupportedHardwareCommand,
 )
 
 from .subsystem_manager import SubsystemManager
@@ -1367,12 +1368,16 @@ async def liquid_probe(
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
     ) -> float:
         if output_option == OutputOptions.sync_buffer_to_csv:
-            assert (
+            if (
                 self._subsystem_manager.device_info[
                     SubSystem.of_mount(mount)
                 ].revision.tertiary
                 == "1"
-            )
+            ):
+                raise UnsupportedHardwareCommand(
+                    "Liquid Probe not supported on this pipette firmware"
+                )
+
         head_node = axis_to_node(Axis.by_mount(mount))
         tool = sensor_node_for_pipette(OT3Mount(mount.value))
         csv_output = bool(output_option.value & OutputOptions.stream_to_csv.value)

api/src/opentrons/hardware_control/ot3api.py

@@ -2580,13 +2580,22 @@ async def liquid_probe(
         if probe_settings.aspirate_while_sensing:
             await self._move_to_plunger_bottom(mount, rate=1.0)
         else:
-            # TODO: shorten this distance by only moving just far enough
-            #       to account for the specified "max-z-distance"
+            # find the ideal travel distance by multiplying the plunger speed
+            # by the time it will take to complete the z move.
+            ideal_travel = probe_settings.plunger_speed * (
+                probe_settings.max_z_distance / probe_settings.mount_speed
+            )
+
+            # TODO limit the z distance to the max  allowed by the plunger travel at this speed.
+            # or here is probably the ideal place to implement multi-probe
+            assert (
+                instrument.plunger_positions.bottom - ideal_travel
+                >= instrument.plunger_positions.top
+            )
+            target_point = instrument.plunger_positions.bottom - ideal_travel
             target_pos = target_position_from_plunger(
-                checked_mount, instrument.plunger_positions.top, self._current_position
+                checked_mount, target_point, self._current_position
             )
-            # FIXME: this should really be the slower "aspirate" speed,
-            #        but this is still in testing phase so let's bias towards speed
             max_speeds = self.config.motion_settings.default_max_speed
             speed = max_speeds[self.gantry_load][OT3AxisKind.P]
             await self._move(target_pos, speed=speed, acquire_lock=True)

api/tests/opentrons/config/ot3_settings.py

@@ -120,7 +120,6 @@
     "liquid_sense": {
         "starting_mount_height": 80,
         "max_z_distance": 20,
-        "min_z_distance": 3,
         "mount_speed": 10,
         "plunger_speed": 10,
         "sensor_threshold_pascals": 17,

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -178,7 +178,6 @@ def fake_liquid_settings() -> LiquidProbeSettings:
     return LiquidProbeSettings(
         starting_mount_height=100,
         max_z_distance=15,
-        min_z_distance=5,
         mount_speed=40,
         plunger_speed=10,
         sensor_threshold_pascals=15,

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -115,7 +115,6 @@ def fake_liquid_settings() -> LiquidProbeSettings:
     return LiquidProbeSettings(
         starting_mount_height=100,
         max_z_distance=15,
-        min_z_distance=10,
         mount_speed=40,
         plunger_speed=10,
         sensor_threshold_pascals=15,
@@ -776,12 +775,19 @@ async def test_liquid_probe(
     pipette_node: Axis,
     mount: OT3Mount,
     fake_liquid_settings: LiquidProbeSettings,
-    mock_instrument_handlers: Tuple[MagicMock],
     mock_current_position_ot3: AsyncMock,
-    mock_ungrip: AsyncMock,
     mock_move_to_plunger_bottom: AsyncMock,
 ) -> None:
-    mock_ungrip.return_value = None
+    instr_data = AttachedPipette(
+        config=load_pipette_data.load_definition(
+            PipetteModelType("p1000"), PipetteChannelType(1), PipetteVersionType(3, 4)
+        ),
+        id="fakepip",
+    )
+    await ot3_hardware.cache_pipette(mount, instr_data, None)
+    pipette = ot3_hardware.hardware_pipettes[mount.to_mount()]
+    assert pipette
+    await ot3_hardware.add_tip(mount, 100)
     await ot3_hardware.home()
     mock_move_to.return_value = None
 
@@ -800,7 +806,6 @@ async def test_liquid_probe(
         fake_settings_aspirate = LiquidProbeSettings(
             starting_mount_height=100,
             max_z_distance=15,
-            min_z_distance=5,
             mount_speed=40,
             plunger_speed=10,
             sensor_threshold_pascals=15,

hardware-testing/hardware_testing/gravimetric/config.py

@@ -90,7 +90,6 @@ class PhotometricConfig(VolumetricConfig):
         1: {
             50: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 11,
                 "plunger_speed": 21,
                 "sensor_threshold_pascals": 150,
@@ -99,7 +98,6 @@ class PhotometricConfig(VolumetricConfig):
         8: {
             50: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 11,
                 "plunger_speed": 21,
                 "sensor_threshold_pascals": 150,
@@ -110,21 +108,18 @@ class PhotometricConfig(VolumetricConfig):
         1: {
             50: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 5,
                 "plunger_speed": 10,
                 "sensor_threshold_pascals": 200,
             },
             200: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 5,
                 "plunger_speed": 10,
                 "sensor_threshold_pascals": 200,
             },
             1000: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 5,
                 "plunger_speed": 11,
                 "sensor_threshold_pascals": 150,
@@ -133,21 +128,18 @@ class PhotometricConfig(VolumetricConfig):
         8: {
             50: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 5,
                 "plunger_speed": 10,
                 "sensor_threshold_pascals": 200,
             },
             200: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 5,
                 "plunger_speed": 10,
                 "sensor_threshold_pascals": 200,
             },
             1000: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 5,
                 "plunger_speed": 11,
                 "sensor_threshold_pascals": 150,
@@ -156,21 +148,18 @@ class PhotometricConfig(VolumetricConfig):
         96: {
             50: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 5,
                 "plunger_speed": 10,
                 "sensor_threshold_pascals": 200,
             },
             200: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 5,
                 "plunger_speed": 10,
                 "sensor_threshold_pascals": 200,
             },
             1000: {
                 "max_z_distance": 20,
-                "min_z_distance": 5,
                 "mount_speed": 5,
                 "plunger_speed": 11,
                 "sensor_threshold_pascals": 150,
@@ -189,7 +178,6 @@ def _get_liquid_probe_settings(
     return LiquidProbeSettings(
         starting_mount_height=well.top().point.z,
         max_z_distance=min(well.depth, lqid_cfg["max_z_distance"]),
-        min_z_distance=lqid_cfg["min_z_distance"],
         mount_speed=lqid_cfg["mount_speed"],
         plunger_speed=lqid_cfg["plunger_speed"],
         sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],

hardware-testing/hardware_testing/liquid_sense/execute.py

@@ -355,7 +355,6 @@ def _run_trial(run_args: RunArgs, tip: int, well: Well, trial: int) -> float:
         lps = LiquidProbeSettings(
             starting_mount_height=start_height,
             max_z_distance=z_dist,
-            min_z_distance=lqid_cfg["min_z_distance"],
             mount_speed=run_args.z_speed,
             plunger_speed=plunger_speed,
             sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],

hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py

@@ -1377,7 +1377,6 @@ async def _test_liquid_probe(
             probe_settings = LiquidProbeSettings(
                 starting_mount_height=start_pos.z,
                 max_z_distance=max_z_distance_machine_coords,  # FIXME: deck coords
-                min_z_distance=0,  # FIXME: remove
                 mount_speed=probe_cfg.mount_speed,
                 plunger_speed=probe_cfg.plunger_speed,
                 sensor_threshold_pascals=probe_cfg.sensor_threshold_pascals,