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#14602 and #14609 cherry pick into chore_release-7.2.1 #14656

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merged 2 commits into from
Mar 13, 2024
Merged

#14602 and #14609 cherry pick into chore_release-7.2.1 #14656

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9cb6a40
fix(api): FLEX fast home collision hangs because of deadlock (#14602)
ahiuchingau Mar 6, 2024
0451ae2
fix(api): raise error if fast home is stalling (#14609)
ahiuchingau Mar 8, 2024
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22 changes: 6 additions & 16 deletions api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,6 @@
pipette_load_name_conversions as pipette_load_name,
)
from opentrons_shared_data.robot.dev_types import RobotType
from opentrons_shared_data.errors.exceptions import (
StallOrCollisionDetectedError,
)

from opentrons import types as top_types
from opentrons.config import robot_configs
Expand Down Expand Up @@ -1531,19 +1528,12 @@ async def _home_axis(self, axis: Axis) -> None:
axis_home_dist = 20.0
if origin[axis] - target_pos[axis] > axis_home_dist:
target_pos[axis] += axis_home_dist
try:
await self._backend.move(
origin,
target_pos,
speed=400,
stop_condition=HWStopCondition.none,
)
except StallOrCollisionDetectedError:
self._log.warning(
f"Stall on {axis} during fast home, encoder may have missed an overflow"
)
await self.refresh_positions()

await self._backend.move(
origin,
target_pos,
speed=400,
stop_condition=HWStopCondition.none,
)
await self._backend.home([axis], self.gantry_load)
else:
# both stepper and encoder positions are invalid, must home
Expand Down
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