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feat(hardware-testing): Configurable plunger acceleration per liquid-class #13038

Merged
merged 31 commits into from
Jul 11, 2023
Merged

feat(hardware-testing): Configurable plunger acceleration per liquid-class #13038

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62bb381
dispense liquid-class settings configurable per test volume
andySigler Jun 7, 2023
40092bd
fix incorrect volume for 8ch P50
andySigler Jun 7, 2023
2003d40
updates leading-air-gaps to be latest-greatest
andySigler Jun 7, 2023
af699be
updates liquid-class definition to include accelerations
andySigler Jun 8, 2023
2b08acb
wip: changing liquid-class config structure
andySigler Jun 8, 2023
201eaa7
fix merge conflicts
andySigler Jun 26, 2023
75227cf
updates all defaults
andySigler Jun 26, 2023
ab75e68
fixes script to use new liquid-class definitions
andySigler Jun 26, 2023
b559c36
calculate ul/sec/sec using nominal ul/mm
andySigler Jun 26, 2023
1577c4d
set and reset accelerations during before/after pipetting
andySigler Jun 26, 2023
b8c90e3
updates api.patch accelerations
andySigler Jun 26, 2023
9aabf08
fix merge conflicts
andySigler Jun 27, 2023
1efce85
fix merge conflicts
andySigler Jun 30, 2023
2c893e7
Merge branch 'edge' into feat-hardware-testing-acceleration-in-liquid…
andySigler Jul 3, 2023
5b33287
Merge branch 'edge' into feat-hardware-testing-acceleration-in-liquid…
andySigler Jul 3, 2023
49d1682
simply push/pop of plunger accelerations
andySigler Jul 3, 2023
e4d1d23
round accelerations
andySigler Jul 3, 2023
53391a1
use more default values to improve readability
andySigler Jul 3, 2023
8ee042d
actually delay before blank measurement
andySigler Jul 6, 2023
db717a1
use base push-ot3 command
andySigler Jul 6, 2023
063b389
don't forget to push hardware-testing too
andySigler Jul 6, 2023
933d110
Merge branch 'edge' into feat-hardware-testing-acceleration-in-liquid…
andySigler Jul 6, 2023
382d615
fix merge conflicts
andySigler Jul 10, 2023
bbf6377
use non-async sleep
andySigler Jul 10, 2023
b7214c5
line too long
andySigler Jul 10, 2023
6e9b8f7
Merge branch 'edge' into feat-hardware-testing-acceleration-in-liquid…
andySigler Jul 10, 2023
43c1458
also change Z discontinuity when entering/leaving well
andySigler Jul 10, 2023
67aa8b4
Merge branch 'edge' into feat-hardware-testing-acceleration-in-liquid…
andySigler Jul 10, 2023
9fcb6b4
reset the move-manager whenever chaning motion settings
andySigler Jul 10, 2023
20a38ac
retract pipettes instead of homing them
andySigler Jul 10, 2023
5bd6465
Merge branch 'edge' into feat-hardware-testing-acceleration-in-liquid…
andySigler Jul 11, 2023
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8 changes: 2 additions & 6 deletions hardware-testing/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -223,12 +223,8 @@ cleanup"
endef

.PHONY: sync-sw-ot3
sync-sw-ot3:
cd ../hardware && $(MAKE) push-ot3 host=$(host)
cd ../api && $(MAKE) push-ot3 host=$(host)
cd ../shared-data && $(MAKE) all push-ot3 host=$(host)
cd ../robot-server && $(MAKE) push-ot3 host=$(host)
cd ../hardware-testing && $(MAKE) push-ot3 host=$(host)
sync-sw-ot3: push-ot3
cd .. && $(MAKE) push-ot3 host=$(host)

.PHONY: sync-fw-ot3
sync-fw-ot3:
Expand Down
8 changes: 5 additions & 3 deletions hardware-testing/hardware_testing/gravimetric/execute.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
"""Gravimetric."""
from time import sleep
from dataclasses import dataclass
from inspect import getsource
from statistics import stdev
Expand Down Expand Up @@ -113,7 +114,7 @@ def _reduce_volumes_to_not_exceed_software_limit(
liq_cls = get_liquid_class(
cfg.pipette_volume, cfg.pipette_channels, cfg.tip_volume, int(v)
)
max_vol = cfg.tip_volume - liq_cls.aspirate.air_gap.trailing_air_gap
max_vol = cfg.tip_volume - liq_cls.aspirate.trailing_air_gap
test_volumes[i] = min(v, max_vol - 0.1)
return test_volumes

Expand Down Expand Up @@ -689,9 +690,10 @@ def run(ctx: ProtocolContext, cfg: config.GravimetricConfig) -> None:
pipette.move_to(hover_pos)
for i in range(config.SCALE_SECONDS_TO_TRUE_STABILIZE):
print(
f"wait {i + 1}/{config.SCALE_SECONDS_TO_TRUE_STABILIZE} seconds before"
f" measuring evaporation"
f"wait for scale to stabilize "
f"({i + 1}/{config.SCALE_SECONDS_TO_TRUE_STABILIZE})"
)
sleep(1)
actual_asp_list_evap: List[float] = []
actual_disp_list_evap: List[float] = []
for trial in range(config.NUM_BLANK_TRIALS):
Expand Down
2 changes: 1 addition & 1 deletion hardware-testing/hardware_testing/gravimetric/execute_photometric.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ def _reduce_volumes_to_not_exceed_software_limit(
) -> List[float]:
for i, v in enumerate(test_volumes):
liq_cls = get_liquid_class(cfg.pipette_volume, 96, cfg.tip_volume, int(v))
max_vol = cfg.tip_volume - liq_cls.aspirate.air_gap.trailing_air_gap
max_vol = cfg.tip_volume - liq_cls.aspirate.trailing_air_gap
test_volumes[i] = min(v, max_vol - 0.1)
return test_volumes

Expand Down
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