fix bugs; add default-values param for touch-tip offset

Opentrons · Oct 29, 2018 · dd0e537 · dd0e537
1 parent 5d06d57
commit dd0e537
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Showing 4 changed files with 30 additions and 7 deletions.
diff --git a/api/src/opentrons/protocols/__init__.py b/api/src/opentrons/protocols/__init__.py
@@ -77,6 +77,15 @@ def _get_location(loaded_labware, command_type, params, default_values):
 
     if offset_from_bottom is None:
         # not all commands use offsets
+
+        # touch-tip uses offset from top, not bottom, as default
+        # when offsetFromBottomMm command-specific value is unset
+        if command_type == 'touch-tip':
+            # TODO: Ian 2018-10-29 remove this `-1` when
+            # touch-tip-mm-from-top is a required field
+            return labware.wells(well).top(
+                z=default_values.get('touch-tip-mm-from-top', -1))
+
         return labware.wells(well)
 
     return labware.wells(well).bottom(offset_from_bottom)
@@ -178,12 +187,18 @@ def dispatch_commands(protocol_data, loaded_pipettes, loaded_labware):  # noqa:
             pipette.dispense(volume, location)
 
         elif command_type == 'touch-tip':
-            offset_from_top = -1
-            if ('offsetFromBottomMm' in params):
-                offset_from_bottom = params['offsetFromBottomMm']
-                offset_from_top = (
-                    location.properties['depth'] - offset_from_bottom)
-            pipette.touch_tip(location, v_offset=offset_from_top)
+            # NOTE: if touch_tip can take a location tuple,
+            # this can be much simpler
+            (wellObject, locTuple) = location
+
+            # Use the offset baked into the wellObject.
+            # Do not allow API to apply its v_offset kwarg default value,
+            # and do not apply the JSON protocol's default offset.
+            z_from_bottom = locTuple[2]
+            offset_from_top = (
+                wellObject.properties['depth'] - z_from_bottom) * -1
+
+            pipette.touch_tip(wellObject, v_offset=offset_from_top)
 
 
 def execute_protocol(protocol):

diff --git a/protocol-designer/src/constants.js b/protocol-designer/src/constants.js
@@ -51,6 +51,10 @@ export const END_TERMINAL_TITLE = 'FINAL DECK STATE'
 export const DEFAULT_CHANGE_TIP_OPTION: 'always' = 'always'
 export const DEFAULT_MM_FROM_BOTTOM_ASPIRATE = 1
 export const DEFAULT_MM_FROM_BOTTOM_DISPENSE = 0.5
+
+// NOTE: in the negative Z direction, to go down from top
+export const DEFAULT_MM_TOUCH_TIP_OFFSET_FROM_TOP = -1
+
 export const DEFAULT_WELL_ORDER_FIRST_OPTION: 't2b' = 't2b'
 export const DEFAULT_WELL_ORDER_SECOND_OPTION: 'l2r' = 'l2r'
 

diff --git a/protocol-designer/src/file-data/selectors/fileCreator.js b/protocol-designer/src/file-data/selectors/fileCreator.js
@@ -10,6 +10,7 @@ import {selectors as steplistSelectors} from '../../steplist'
 import {
   DEFAULT_MM_FROM_BOTTOM_ASPIRATE,
   DEFAULT_MM_FROM_BOTTOM_DISPENSE,
+  DEFAULT_MM_TOUCH_TIP_OFFSET_FROM_TOP,
 } from '../../constants'
 import type {BaseState} from '../../types'
 import type {ProtocolFile, FilePipette, FileLabware} from '../../file-types'
@@ -29,6 +30,7 @@ const executionDefaults = {
   'dispense-flow-rate': getPropertyAllPipettes('dispenseFlowRate'),
   'aspirate-mm-from-bottom': DEFAULT_MM_FROM_BOTTOM_ASPIRATE,
   'dispense-mm-from-bottom': DEFAULT_MM_FROM_BOTTOM_DISPENSE,
+  'touch-tip-mm-from-top': DEFAULT_MM_TOUCH_TIP_OFFSET_FROM_TOP,
 }
 
 export const createFile: BaseState => ProtocolFile = createSelector(

diff --git a/shared-data/protocol-json-schema/protocol-schema.json b/shared-data/protocol-json-schema/protocol-schema.json
@@ -143,6 +143,7 @@
     "default-values": {
       "description": "Default values required for protocol execution",
       "type": "object",
+      "$note": "TODO: Ian 2018-10-29 make touch-tip-mm-from-top required (breaking change)",
       "required": [
         "aspirate-flow-rate",
         "dispense-flow-rate",
@@ -153,7 +154,8 @@
         "aspirate-flow-rate": {"$ref": "#/definitions/flow-rate-for-pipettes"},
         "dispense-flow-rate": {"$ref": "#/definitions/flow-rate-for-pipettes"},
         "aspirate-mm-from-bottom": {"$ref": "#/definitions/mm-offset"},
-        "dispense-mm-from-bottom": {"$ref": "#/definitions/mm-offset"}
+        "dispense-mm-from-bottom": {"$ref": "#/definitions/mm-offset"},
+        "touch-tip-mm-from-top": {"$ref": "#/definitions/mm-offset"}
       }
     },