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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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3 changes: 1 addition & 2 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 @@ -9,7 +9,7 @@
from pydantic import BaseModel, Field

from opentrons.types import MountType, Point, Mount
from opentrons.hardware_control.types import OT3Axis, CriticalPoint
from opentrons.hardware_control.types import OT3Axis
from opentrons.protocol_engine.commands.command import (
AbstractCommandImpl,
BaseCommand,
Expand Down Expand Up @@ -97,7 +97,6 @@ async def execute(
await ot3_api.move_to(
mount=Mount.LEFT,
abs_position=movement,
critical_point=CriticalPoint.MOUNT,
)

if params.maintenancePosition == MaintenancePosition.ATTACH_INSTRUMENT:
Expand Down
4 changes: 1 addition & 3 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 @@ -14,7 +14,7 @@

from opentrons.protocol_engine.state import StateView
from opentrons.types import MountType, Mount, Point
from opentrons.hardware_control.types import OT3Axis, CriticalPoint
from opentrons.hardware_control.types import OT3Axis

if TYPE_CHECKING:
from opentrons.hardware_control.ot3api import OT3API
Expand Down Expand Up @@ -71,7 +71,6 @@ async def test_calibration_move_to_location_implementation(
await ot3_hardware_api.move_to(
mount=Mount.LEFT,
abs_position=Point(x=1, y=2, z=300),
critical_point=CriticalPoint.MOUNT,
),
times=1,
)
Expand All @@ -80,7 +79,6 @@ async def test_calibration_move_to_location_implementation(
await ot3_hardware_api.move_to(
mount=Mount.LEFT,
abs_position=Point(x=0, y=110, z=300),
critical_point=CriticalPoint.MOUNT,
),
times=1,
)
Expand Down