feat(engine): move pipettes away if blocking heater-shaker open latch or start shake #11248
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@@ Coverage Diff @@
## edge #11248 +/- ##
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Coverage 73.82% 73.82%
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Files 2090 2090
Lines 57754 57754
Branches 5864 5864
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Hits 42636 42636
Misses 13833 13833
Partials 1285 1285
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jbleon95
added
robot-svcs
sanni-t
approved these changes
Jul 28, 2022
| @@ -56,6 +60,17 @@ async def execute( | |||
| # Verify speed from hs module view | |||
| validated_speed = hs_module_substate.validate_target_speed(params.rpm) | |||
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| # Check if pipette would block opening latch if adjacent or on top of module | |||
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Suggested change
| # Check if pipette would block opening latch if adjacent or on top of module | |
| # Move pipette away if it is close to the heater-shaker |
| @@ -47,6 +51,17 @@ async def execute(self, params: OpenLabwareLatchParams) -> OpenLabwareLatchResul | |||
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| hs_module_substate.raise_if_shaking() | |||
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| # Check if pipette would block opening latch if east, west, or on top of module | |||
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Suggested change
| # Check if pipette would block opening latch if east, west, or on top of module | |
| # Move pipette away if it is close to the heater-shaker |
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I would specify the east/west location details in the docstring for check_pipette_blocking_hs_latch. Just a soft preference.
| if self._state_view.motion.check_pipette_blocking_hs_latch( | ||
| hs_module_substate.module_id | ||
| ): | ||
| await self._movement.home( |
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From the discussion w/ the group on Tuesday I think we to move towards using pipette retraction instead of homing both here and before thermocycler lid movements. So I'd leave a TODO here to switch to using pipette retraction.
| if self._state_view.motion.check_pipette_blocking_hs_shaker( | ||
| hs_module_substate.module_id | ||
| ): | ||
| await self._movement.home( |
TamarZanzouri
approved these changes
Jul 28, 2022
sanni-t
reviewed
Jul 28, 2022
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Overview
In protocol engine, adds check to
openLabwareLatchandsetAndWaitForShakeSpeedto determine if pipette is in an unsafe location for these operations. If they are (or location cannot be determined), the pipettes will home on the z-axisChangelog
openLabwareLatchandsetAndWaitForShakeSpeedcommands if determined to be in unsafe or unknown locationMotionViewfor determining if pipettes are blocking a shake or open latch commandtouchTipand thermocycleropenLidandcloseLidcommands not updating engine'scurrent_wellproperlyReview requests
check_pipette_blocking_hs_shakerandcheck_pipette_blocking_hs_latchmethods are both very similar, but I couldn't figure out a good method to combine them. Open to any ideas to reduce repeating ourselves there.Risk assessment
Medium, this only affects two commands but if z-axis homing does not work properly for all expected situations the pipette could be in a bad location when these operations start.