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fix(api): use consistent CriticalPoints when moving to maintenance position #12878

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merged 4 commits into from
Jun 9, 2023
Merged

fix(api): use consistent CriticalPoints when moving to maintenance position #12878

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94f5190
Don't specify a critical point when moving during `move_to_maintenanc…
fsinapi Jun 8, 2023
5b9bc08
Use the MOUNT critical point for moving to X and Y position, but stil…
fsinapi Jun 9, 2023
a73c1cb
Formatting & fixed test for maintenance position
fsinapi Jun 9, 2023
9d0c535
Merge branch 'edge' into fix_maintenance_pos_critical_point
fsinapi Jun 9, 2023
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19 changes: 14 additions & 5 deletions api/src/opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py
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Original file line number Diff line number Diff line change
Expand Up @@ -83,14 +83,23 @@ async def execute(
ot3_api = ensure_ot3_hardware(
self._hardware_api,
)
current_position = await ot3_api.gantry_position(Mount.LEFT)
max_height_z = ot3_api.get_instrument_max_height(Mount.LEFT)
current_position_mount = await ot3_api.gantry_position(
Mount.LEFT, critical_point=CriticalPoint.MOUNT
)
max_height_z_mount = ot3_api.get_instrument_max_height(
Mount.LEFT, critical_point=CriticalPoint.MOUNT
)
max_height_z_tip = ot3_api.get_instrument_max_height(Mount.LEFT)
# avoid using motion planning waypoints because we do not need to move the z at this moment
movement_points = [
# move the z to the highest position
Point(x=current_position.x, y=current_position.y, z=max_height_z),
Point(
x=current_position_mount.x,
y=current_position_mount.y,
z=max_height_z_mount,
),
# move in x,y without going down the z
Point(x=_ATTACH_POINT.x, y=_ATTACH_POINT.y, z=max_height_z),
Point(x=_ATTACH_POINT.x, y=_ATTACH_POINT.y, z=max_height_z_mount),
]

for movement in movement_points:
Expand All @@ -108,7 +117,7 @@ async def execute(
}
)
else:
max_motion_range = max_height_z - _MAX_Z_AXIS_MOTION_RANGE
max_motion_range = max_height_z_tip - _MAX_Z_AXIS_MOTION_RANGE
await ot3_api.move_axes(
{
OT3Axis.Z_L: max_motion_range + _LEFT_MOUNT_Z_MARGIN,
Expand Down
18 changes: 13 additions & 5 deletions ...tests/opentrons/protocol_engine/commands/calibration/test_move_to_maintenance_position.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,9 +58,17 @@ async def test_calibration_move_to_location_implementation(
mount=MountType.LEFT, maintenancePosition=maintenance_position
)

decoy.when(await ot3_hardware_api.gantry_position(Mount.LEFT)).then_return(
Point(x=1, y=2, z=3)
)
decoy.when(
await ot3_hardware_api.gantry_position(
Mount.LEFT, critical_point=CriticalPoint.MOUNT
)
).then_return(Point(x=1, y=2, z=3))

decoy.when(
ot3_hardware_api.get_instrument_max_height(
Mount.LEFT, critical_point=CriticalPoint.MOUNT
)
).then_return(250)

decoy.when(ot3_hardware_api.get_instrument_max_height(Mount.LEFT)).then_return(300)

Expand All @@ -70,7 +78,7 @@ async def test_calibration_move_to_location_implementation(
decoy.verify(
await ot3_hardware_api.move_to(
mount=Mount.LEFT,
abs_position=Point(x=1, y=2, z=300),
abs_position=Point(x=1, y=2, z=250),
critical_point=CriticalPoint.MOUNT,
),
times=1,
Expand All @@ -79,7 +87,7 @@ async def test_calibration_move_to_location_implementation(
decoy.verify(
await ot3_hardware_api.move_to(
mount=Mount.LEFT,
abs_position=Point(x=0, y=110, z=300),
abs_position=Point(x=0, y=110, z=250),
critical_point=CriticalPoint.MOUNT,
),
times=1,
Expand Down