protocol for offset testing

Opentrons · Oct 23, 2024 · ee87963 · ee87963
1 parent d5b3493
commit ee87963
Showing 1 changed file with 55 additions and 30 deletions.
diff --git a/hardware-testing/hardware_testing/protocols/tc_auto_seal_lid/tc_lid_to_thermocycler.py b/hardware-testing/hardware_testing/protocols/tc_auto_seal_lid/tc_lid_to_thermocycler.py
@@ -10,7 +10,7 @@
 )
 
 
-metadata = {"protocolName": "Tough Auto Seal Lid to Thermocycler - with z offset change"}
+metadata = {"protocolName": "Tough Auto Seal Lid to Thermocycler with offset params"}
 requirements = {"robotType": "Flex", "apiLevel": "2.20"}
 
 
@@ -20,7 +20,7 @@ def add_parameters(parameters: ParameterContext) -> None:
         variable_name="num_of_stack_ups",
         display_name="Number of Stack Ups",
         choices=[
-            {"display_name": "1", "value": 1},
+            {"display_name": "1", "value": 2},
             {"display_name": "5", "value": 5},
             {"display_name": "20", "value": 20},
             {"display_name": "30", "value": 30},
@@ -29,27 +29,39 @@ def add_parameters(parameters: ParameterContext) -> None:
         default=20,
     )
     parameters.add_int(
-        variable_name="z_offset",
-        display_name="Z Offset",
+        variable_name="max_offset",
+        display_name="Max Offset (+)",
+        minimum=0,
+        maximum=10,
+        default=0,
+    )
+    parameters.add_int(
+        variable_name="min_offset",
+        display_name="Max Offset (-)",
+        minimum=0,
+        maximum=10,
+        default=0,
+    )
+    parameters.add_str(
+        variable_name="axis_to_test",
+        display_name="Axis to Test",
         choices=[
-            {"display_name": "-1", "value": -1},
-            {"display_name": "-0.5", "value": -0.5},
-            {"display_name": "0.5", "value": 0.5},
-            {"display_name": "1", "value": 1},
-            {"display_name": "1.5", "value": 1.5},
-            {"display_name": "2", "value": 2.5},
-            {"display_name": "2.5", "value": 2.5},
-            {"display_name": "3", "value": 3},
+            {"display_name": "X", "value": "x"},
+            {"display_name": "Y", "value": "y"},
+            {"display_name": "Z", "value": "z"},
         ],
-        default=-1,
+        default="x",
     )
 
 
 def run(protocol: ProtocolContext) -> None:
     """Runs protocol that moves lids and stacks them."""
     # Load Parameters
     iterations = protocol.params.num_of_stack_ups  # type: ignore[attr-defined]
-    z_offset = protocol.params.z_offset # type: ignore[attr-defined]
+    axis_for_offset = protocol.params.axis_to_test  # type: ignore[attr-defined]
+    min_offset = protocol.params.min_offset  # type: ignore[attr-defined]
+    neg_min_offset = int(min_offset) * -1
+    max_offset = protocol.params.max_offset  # type: ignore[attr-defined]
     # Thermocycler
     thermocycler: ThermocyclerContext = protocol.load_module(
         "thermocyclerModuleV2"
@@ -65,22 +77,35 @@ def run(protocol: ProtocolContext) -> None:
     for i in range(4):
         lids.append(lids[-1].load_labware("opentrons_tough_pcr_auto_sealing_lid"))
     lids.reverse()
-    
+
     stack_locations = ["C2", "D2"]
     slot = 0
+    offsets = [neg_min_offset, neg_min_offset + 1, max_offset - 1, max_offset]
+
     for iteration in range(iterations - 1):
-        loc = 0
-        for lid in lids:
-            protocol.comment(f"Stack up {iteration}")
-            # move lid to plate in thermocycler
-            protocol.move_labware(lid, plate_in_cycler, use_gripper=True)
-            # move lid to deck slot
-            if loc == 0:
-                protocol.move_labware(lid, stack_locations[slot], use_gripper=True, drop_offset = {"x": 0, "y":0, "z": z_offset})
-                prev_moved_lid: Labware = lid
-            else:
-                protocol.move_labware(lid, prev_moved_lid, use_gripper=True)
-                prev_moved_lid = lid
-            loc += 1
-        slot = (slot + 1) % 2  # Switch between 0 and 1 to rotate stack locations
-        lids.reverse()
+        for offset in offsets:
+            offset_dict = {
+                "x": {"x": offset, "y": 0, "z": 0},
+                "y": {"x": 0, "y": offset, "z": 0},
+                "z": {"x": 0, "y": 0, "z": offset},
+            }
+            offset_to_use = offset_dict[axis_for_offset]
+            loc = 0
+            for lid in lids:
+                protocol.comment(
+                    f"Stack up {iteration}. Offset {offset_to_use}, Lid # {loc+1}"
+                )
+                # move lid to plate in thermocycler
+                protocol.move_labware(
+                    lid, plate_in_cycler, use_gripper=True, drop_offset=offset_to_use
+                )
+                # move lid to deck slot
+                if loc == 0:
+                    protocol.move_labware(lid, stack_locations[slot], use_gripper=True)
+                    prev_moved_lid: Labware = lid
+                else:
+                    protocol.move_labware(lid, prev_moved_lid, use_gripper=True)
+                    prev_moved_lid = lid
+                loc += 1
+            slot = (slot + 1) % 2  # Switch between 0 and 1 to rotate stack locations
+            lids.reverse()