fix(api): disable motors during the pipette attach and detach position #12772
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We don't know what pipettes are attached on the hardware controller side until we actually detect
sfoster1
approved these changes
May 23, 2023
| @@ -72,6 +72,7 @@ async def execute( | |||
| critical_point=CriticalPoint.MOUNT, | |||
| ) | |||
|
|
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| await self._hardware_api.disengage_axes([Axis.Z, Axis.A]) | |||
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Axis.of_mount(hardware_mount)?
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Gonna hold off on this and make the change in the both pr
Codecov Report
@@ Coverage Diff @@
## internal-release_0.9.0 #12772 +/- ##
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Coverage 73.36% 73.36%
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Files 2295 2295
Lines 63076 63076
Branches 6858 6858
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Hits 46273 46273
Misses 15180 15180
Partials 1623 1623
Flags with carried forward coverage won't be shown. Click here to find out more. |
Laura-Danielle
added a commit
that referenced
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May 25, 2023
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Overview
We don't know what pipettes are attached on the hardware controller side until we actually detect
the pipette. This means that when the 96 channel gets attached for the first time the mount falls
because there isn't enough current on the head motors to support it. We should instead
auto-disengage all the ZA motors which will trigger the ebrake on the head board.
The motors will get re-enabled as soon as any movement is issued.