fix(api): enable stall detection #12377
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## edge #12377 +/- ##
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+ Coverage 73.13% 73.42% +0.28%
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Files 1510 2291 +781
Lines 49516 62901 +13385
Branches 3025 6792 +3767
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+ Hits 36215 46184 +9969
- Misses 12838 15104 +2266
- Partials 463 1613 +1150
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I think we shouldn't target this on the internal release if it needs that much testing, unfortunately. Let's put it on edge, though! And I think in terms of testing, you're right on about how to do it. I think a feature flag is a pretty good idea, although it's sort of getting to the point where we should add mechanical revisions or something to handle this. |
| @@ -76,16 +76,16 @@ | |||
| DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad( | |||
| high_throughput={ | |||
| OT3AxisKind.X: 500, | |||
| OT3AxisKind.Y: 500, | |||
| OT3AxisKind.Y: 375, | |||
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imo this should be a separate PR
| @@ -35,3 +35,7 @@ def rear_panel_integration() -> bool: | |||
| """Whether to enable usb connected rear_panel for the OT-3.""" | |||
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| return advs.get_setting_with_env_overload("rearPanelIntegration") | |||
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| def disable_stall_detection() -> bool: | |||
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kinda sounds like a verb-phrase, can we call this like stall_detection_disabled()
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or even stall_detection_enabled() and return not get_setting...("disableStallDetection")
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Co-authored-by: Seth Foster <[email protected]>
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Overview
We previously disable stall detection because the Y axes were unreliable and used to skip steps often on our EVT models. Now that we have the DVT units, we should verify that the motors are accurate enough for us to safely re-enable stall detection.
On top of that, how do we feel about adding a robot feature flag to disable & enable this feature for testing purposes?
Changes:
Test Plan
In order to merge this PR, we need to put the changes in this PR on DVT several units (ideally, as many as we can) and make sure we can run a protocol or two without triggering any stall detection error.