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feat(engine): move pipettes away if blocking heater-shaker open latch or start shake #11248

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merged 8 commits into from
Jul 29, 2022
Merged

feat(engine): move pipettes away if blocking heater-shaker open latch or start shake #11248

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1b2090a
first pass at checking and moving pipette for h/s commands
jbleon95 Jul 28, 2022
cc958eb
refactored to move logic to motion state view
jbleon95 Jul 28, 2022
cf70127
updated tests
jbleon95 Jul 28, 2022
3aca3d5
lint fixes
jbleon95 Jul 28, 2022
d38a232
tests for motionview checks
jbleon95 Jul 28, 2022
4aae7a4
fix places where current well is not being updated
jbleon95 Jul 28, 2022
af17588
changes per review comments
jbleon95 Jul 28, 2022
b4203a9
easy typo fix
jbleon95 Jul 29, 2022
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3 changes: 2 additions & 1 deletion api/src/opentrons/protocol_engine/commands/heater_shaker/open_labware_latch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,10 +51,11 @@ async def execute(self, params: OpenLabwareLatchParams) -> OpenLabwareLatchResul

hs_module_substate.raise_if_shaking()

# 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
if self._state_view.motion.check_pipette_blocking_hs_latch(
hs_module_substate.module_id
):
# TODO(jbl 2022-07-28) replace home movement with a retract movement
await self._movement.home(
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@sanni-t sanni-t Jul 28, 2022 •
edited
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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.

[
MotorAxis.RIGHT_Z,
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3 changes: 2 additions & 1 deletion api/src/opentrons/protocol_engine/commands/heater_shaker/set_and_wait_for_shake_speed.py
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Expand Up @@ -60,10 +60,11 @@ async def execute(
# Verify speed from hs module view
validated_speed = hs_module_substate.validate_target_speed(params.rpm)

# 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
if self._state_view.motion.check_pipette_blocking_hs_shaker(
hs_module_substate.module_id
):
# TODO(jbl 2022-07-28) replace home movement with a retract movement
await self._movement.home(
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Same TODO comment as above.

[
MotorAxis.RIGHT_Z,
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4 changes: 2 additions & 2 deletions api/src/opentrons/protocol_engine/state/motion.py
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Expand Up @@ -184,7 +184,7 @@ def get_movement_waypoints_to_coords(
def check_pipette_blocking_hs_latch(
self, hs_module_id: HeaterShakerModuleId
) -> bool:
"""Check if pipette would block h/s latch from opening."""
"""Check if pipette would block h/s latch from opening if it is easy, west or on module."""
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pipette_blocking = True
current_well = self._pipettes.get_current_well()
if current_well is not None:
Expand All @@ -199,7 +199,7 @@ def check_pipette_blocking_hs_latch(
def check_pipette_blocking_hs_shaker(
self, hs_module_id: HeaterShakerModuleId
) -> bool:
"""Check if pipette would block h/s latch from starting shake."""
"""Check if pipette would block h/s latch from starting shake if it is adjacent or on module."""
pipette_blocking = True
current_well = self._pipettes.get_current_well()
if current_well is not None:
Expand Down