diff --git a/api/src/opentrons/calibration_storage/ot2/tip_length.py b/api/src/opentrons/calibration_storage/ot2/tip_length.py index de27169a79bc..d2be974b12b1 100644 --- 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 index 89892bdf86e5..9525aafd86ea 100644 --- 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 index c2531c10e093..80af8a23d281 100644 --- a/api/src/opentrons/config/defaults_ot3.py +++ b/api/src/opentrons/config/defaults_ot3.py @@ -84,16 +84,16 @@ DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad( high_throughput={ - OT3AxisKind.X: 500, - OT3AxisKind.Y: 500, + OT3AxisKind.X: 1000, + OT3AxisKind.Y: 1000, OT3AxisKind.Z: 35, OT3AxisKind.P: 5, OT3AxisKind.Z_G: 100, OT3AxisKind.Q: 5.5, }, low_throughput={ - OT3AxisKind.X: 500, - OT3AxisKind.Y: 500, + OT3AxisKind.X: 1000, + OT3AxisKind.Y: 1000, OT3AxisKind.Z: 65, OT3AxisKind.P: 45, OT3AxisKind.Z_G: 100, @@ -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, }, ) @@ -122,19 +122,19 @@ 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, }, ) @@ -142,19 +142,19 @@ 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 index 49de1efbd3e3..889a9e956107 100644 --- 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 index 984dc54a64f9..0cdebbfa18f5 100644 --- 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