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hardware-testing changes to get low-volume pipetting working #13523

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merged 4 commits into from
Sep 12, 2023
Merged

hardware-testing changes to get low-volume pipetting working #13523

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448a752
simulation works
andySigler Sep 12, 2023
58b19e5
use configure_for_volume()
andySigler Sep 12, 2023
9691590
adds back in custom configuration for push-out volume in grav script
andySigler Sep 12, 2023
d8e1cc1
linting
andySigler Sep 12, 2023
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20 changes: 15 additions & 5 deletions hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py
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Original file line number Diff line number Diff line change
Expand Up @@ -176,14 +176,16 @@ def _pipette_with_liquid_settings(
# FIXME: stop using hwapi, and get those functions into core software
hw_api = ctx._core.get_hardware()
hw_mount = OT3Mount.LEFT if pipette.mount == "left" else OT3Mount.RIGHT
hw_pipette = hw_api.hardware_pipettes[hw_mount.to_mount()]
_check_aspirate_dispense_args(aspirate, dispense)

def _dispense_with_added_blow_out() -> None:
# dispense all liquid, plus some air by calling `pipette.blow_out(location, volume)`
# FIXME: this is a hack, until there's an equivalent `pipette.blow_out(location, volume)`
# dispense all liquid, plus some air
# FIXME: push-out is not supported in Legacy core, so here
# we again use the hardware controller
hw_api = ctx._core.get_hardware()
hw_mount = OT3Mount.LEFT if pipette.mount == "left" else OT3Mount.RIGHT
hw_api.blow_out(hw_mount, liquid_class.dispense.blow_out_submerged)
hw_api.dispense(hw_mount, push_out=liquid_class.dispense.blow_out_submerged)

# ASPIRATE/DISPENSE SEQUENCE HAS THREE PHASES:
# 1. APPROACH
Expand Down Expand Up @@ -211,6 +213,12 @@ def _dispense_with_added_blow_out() -> None:

# CREATE CALLBACKS FOR EACH PHASE
def _aspirate_on_approach() -> None:
if hw_pipette.current_volume > 0:
print("WARNING: removing trailing air-gap from pipette, "
"this should only happen during blank trials")
hw_api.dispense(hw_mount)
hw_api.configure_for_volume(hw_mount, aspirate if aspirate else dispense)
hw_api.prepare_for_aspirate(hw_mount)
if liquid_class.aspirate.leading_air_gap > 0:
pipette.aspirate(liquid_class.aspirate.leading_air_gap)

Expand Down Expand Up @@ -308,8 +316,9 @@ def aspirate_with_liquid_class(
touch_tip: bool = False,
) -> None:
"""Aspirate with liquid class."""
pip_size = 50 if "50" in pipette.name else 1000
liquid_class = get_liquid_class(
int(pipette.max_volume), pipette.channels, tip_volume, int(aspirate_volume)
pip_size, pipette.channels, tip_volume, int(aspirate_volume)
)
_pipette_with_liquid_settings(
ctx,
Expand Down Expand Up @@ -345,8 +354,9 @@ def dispense_with_liquid_class(
touch_tip: bool = False,
) -> None:
"""Dispense with liquid class."""
pip_size = 50 if "50" in pipette.name else 1000
liquid_class = get_liquid_class(
int(pipette.max_volume), pipette.channels, tip_volume, int(dispense_volume)
pip_size, pipette.channels, tip_volume, int(dispense_volume)
)
_pipette_with_liquid_settings(
ctx,
Expand Down
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