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OT-2 Refresh: Configurable currents depending on hardware revision #7093

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sfoster1 opened this issue Dec 2, 2020 · 1 comment · Fixed by #7109
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OT-2 Refresh: Configurable currents depending on hardware revision #7093

sfoster1 opened this issue Dec 2, 2020 · 1 comment · Fixed by #7109
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api Affects the `api` project refactor

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sfoster1 commented Dec 2, 2020

Add support for saving, configuring, and changing gantry and Z-stage currents based on the CRB revision.
@sfoster1 sfoster1 added api Affects the `api` project refactor labels Dec 2, 2020
@djgomez-opentrons
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All currents found in the robot settings should be configured dependent on the stepper motor driver hardware revision.

The exact changes we need for now, these should apply to all stepper driver boards rev A and higher. (12.5 and lower get the old settings)

  1. Holding current - we want the X/Y motor holding current to be 0.7A.
    I believe this is the "low_current" in the robot settings.

  2. Z/A general movement current set to 0.5A. The goal here is to have all general movements of the Z/A (so basically everything except tip pick up (which is set separately) to be 0.5A.
    I believe this means the "high_current" and "default_current" should be 0.5A for Z/A but someone should check that that actually gives the desired function.

@sfoster1 sfoster1 self-assigned this Dec 7, 2020
sfoster1 added a commit that referenced this issue Dec 7, 2020
@sfoster1
refactor(api, robot-server): per-revision configs
01e1d39 
With the launch of the OT-2 refresh, we'll need to be able to express
some config elements (specifically, currents) differently based on the
hardware revision of the robot in question. This PR adds per-revision
concepts to the robot configs area, specifically around the currents,
which is a huge changeset.

It also has a bunch of refactors that were waiting a long time, like
- robot configs is a dataclass now
- A lot had to deal with that
- Removed the rest of the now-unused config elements.

Closes #7093
@sfoster1 sfoster1 mentioned this issue Dec 7, 2020
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sfoster1 added a commit that referenced this issue Jan 4, 2021
@sfoster1
refactor(api, robot-server): add per revision configs (#7109)
61d9b4f 
With the launch of the OT-2 refresh, we'll need to be able to express
some config elements (specifically, currents) differently based on the
hardware revision of the robot in question. This PR adds per-revision
concepts to the robot configs area, specifically around the currents,
which is a huge changeset.

It also has a bunch of refactors that were waiting a long time, like
- robot configs is a dataclass now
- A lot had to deal with that
- Removed the rest of the now-unused config elements.

Closes #7093
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refactor(api, robot-server): add per revision configs Opentrons/opentrons
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