fix plunger command calls

Opentrons · Nov 1, 2024 · e69917f · e69917f
1 parent 12d7673
commit e69917f
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Showing 2 changed files with 9 additions and 10 deletions.
diff --git a/api/src/opentrons/protocol_api/core/engine/robot.py b/api/src/opentrons/protocol_api/core/engine/robot.py
@@ -49,11 +49,12 @@ def _convert_to_engine_mount(self, axis_map: AxisMapType) -> Dict[MotorAxis, flo
         return {_AXIS_TYPE_TO_MOTOR_AXIS[ax]: dist for ax, dist in axis_map.items()}
 
     def _ul_per_mm_conversion(
-        self, pipette_settings, ul: float, action, function_version
+        self, pipette_settings, ul: float, action: PipetteActionTypes, function_version: str
     ) -> float:
-        if action == "aspirate":
-            sequence = pipette_settings.aspirate.default[function_version]
-        elif action == "blowout":
+        if action == PipetteActionTypes.ASPIRATE_ACTION:
+            sequence = pipette_settings.aspirate.default.get(function_version, )
+        elif action == PipetteActionTypes.BLOWOUT_ACTION:
+            # TODO in followup work we should support handling blow out actions for volume.
             return 1.0
         else:
             sequence = pipette_settings.dispense.default[function_version]
@@ -72,15 +73,15 @@ def get_pipette_type_from_engine(self, mount: Union[Mount, str]) -> Optional[str
         return maybe_pipette.pipetteName if maybe_pipette else None
 
     def get_plunger_position_from_name(
-        self, mount: Mount, position_name: PipetteActionTypes
+        self, mount: Mount, position_name: PlungerPositionTypes
     ) -> float:
         maybe_pipette_state = self._sync_hardware_api.get_attached_instrument(mount)
         if not maybe_pipette_state:
             return 0.0
         return maybe_pipette_state["plunger_positions"][position_name.value]
 
     def get_plunger_position_from_volume(
-        self, mount: Mount, volume: float, action: PlungerPositionTypes, robot_type: str
+        self, mount: Mount, volume: float, action: PipetteActionTypes, robot_type: str
     ) -> float:
         maybe_pipette_state = self._sync_hardware_api.get_attached_instrument(mount)
         if not maybe_pipette_state:

diff --git a/api/src/opentrons/protocol_api/robot_context.py b/api/src/opentrons/protocol_api/robot_context.py
@@ -209,13 +209,12 @@ def plunger_coordinates_for_volume(
         """
         pipette_name = self._core.get_pipette_type_from_engine(mount)
         mount = validation.ensure_mount_for_pipette(mount, pipette_name)
-        mount_axis = AxisType.axis_for_mount(mount)
         pipette_axis = AxisType.plunger_axis_for_mount(mount)
 
         pipette_position = self._core.get_plunger_position_from_volume(
             mount, volume, action, self._protocol_core.robot_type
         )
-        return {mount_axis: 0.0, pipette_axis: pipette_position}
+        return {pipette_axis: pipette_position}
 
     def plunger_coordinates_for_named_position(
         self, mount: Union[Mount, str], position_name: PipetteActionTypes
@@ -227,12 +226,11 @@ def plunger_coordinates_for_named_position(
         pipette_name = self._core.get_pipette_type_from_engine(mount)
 
         mount = validation.ensure_mount_for_pipette(mount, pipette_name)
-        mount_axis = AxisType.axis_for_mount(mount)
         pipette_axis = AxisType.plunger_axis_for_mount(mount)
         pipette_position = self._core.get_plunger_position_from_name(
             mount, position_name
         )
-        return {mount_axis: 0.0, pipette_axis: pipette_position}
+        return {pipette_axis: pipette_position}
 
     def build_axis_map(self, axis_map: StringAxisMap) -> AxisMapType:
         """Take in a :py:class:`.types.StringAxisMap` and output a :py:class:`.types.AxisMapType`.