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refactor(api): Delete unused hard-coded waste chute dimensions #14147

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merged 2 commits into from
Dec 8, 2023
Merged

refactor(api): Delete unused hard-coded waste chute dimensions #14147

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723ac94
Begone _waste_chute_dimensions.py.
SyntaxColoring Dec 7, 2023
52e8d4e
OFF_DECK more like OFF_HECK
SyntaxColoring Dec 7, 2023
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11 changes: 0 additions & 11 deletions api/src/opentrons/protocol_api/_waste_chute_dimensions.py
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48 changes: 1 addition & 47 deletions api/src/opentrons/protocol_api/core/engine/protocol.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,6 @@
from __future__ import annotations
from typing import Dict, Optional, Type, Union, List, Tuple, TYPE_CHECKING

from opentrons.protocol_api import _waste_chute_dimensions

from opentrons.protocol_engine.commands import LoadModuleResult
from opentrons_shared_data.deck.dev_types import DeckDefinitionV4, SlotDefV3
from opentrons_shared_data.labware.labware_definition import LabwareDefinition
Expand Down Expand Up @@ -51,7 +49,7 @@
)

from ... import validation
from ..._types import OffDeckType, OFF_DECK
from ..._types import OffDeckType
from ..._liquid import Liquid
from ..._trash_bin import TrashBin
from ..._waste_chute import WasteChute
Expand Down Expand Up @@ -343,50 +341,6 @@ def move_labware(
# and we only use last location for in-place pipetting commands
self.set_last_location(location=None, mount=Mount.EXTENSION)

def _move_labware_to_waste_chute(
self,
labware_core: LabwareCore,
strategy: LabwareMovementStrategy,
pick_up_offset: Optional[LabwareOffsetVector],
drop_offset: Optional[LabwareOffsetVector],
) -> None:
slot = DeckSlotLocation(slotName=DeckSlotName.SLOT_D3)
slot_width = 128
slot_height = 86
drop_offset_from_slot = (
_waste_chute_dimensions.SLOT_ORIGIN_TO_GRIPPER_JAW_CENTER
- Point(x=slot_width / 2, y=slot_height / 2)
)
if drop_offset is not None:
drop_offset_from_slot += Point(
x=drop_offset.x, y=drop_offset.y, z=drop_offset.z
)

# To get the physical movement to happen, move the labware "into the slot" with a giant
# offset to dunk it in the waste chute.
self._engine_client.move_labware(
labware_id=labware_core.labware_id,
new_location=slot,
strategy=strategy,
pick_up_offset=pick_up_offset,
drop_offset=LabwareOffsetVector(
x=drop_offset_from_slot.x,
y=drop_offset_from_slot.y,
z=drop_offset_from_slot.z,
),
)

# To get the logical movement to be correct, move the labware off-deck.
# Otherwise, leaving the labware "in the slot" would mean you couldn't call this function
# again for other labware.
self._engine_client.move_labware(
labware_id=labware_core.labware_id,
new_location=self._convert_labware_location(OFF_DECK),
strategy=LabwareMovementStrategy.MANUAL_MOVE_WITHOUT_PAUSE,
pick_up_offset=None,
drop_offset=None,
)

def _resolve_module_hardware(
self, serial_number: str, model: ModuleModel
) -> AbstractModule:
Expand Down