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fix(api): engage axis to enable the motor before attempting to move the axis. #14955

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merged 3 commits into from
Apr 19, 2024
Merged

fix(api): engage axis to enable the motor before attempting to move the axis. #14955

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5e6b38e
remove can messenger listener
ahiuchingau Apr 17, 2024
cbb69cd
fix(api): enagage axis before attempting to move
vegano1 Apr 19, 2024
481e9db
Merge branch 'edge' into RQA-2591-engage-axis-before-move
vegano1 Apr 19, 2024
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13 changes: 13 additions & 0 deletions api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1539,6 +1539,12 @@ async def _home_axis(self, axis: Axis) -> None:
await self._set_plunger_current_and_home(axis, motor_ok, encoder_ok)
return

# TODO: (ba, 2024-04-19): We need to explictly engage the axis and enable
# the motor when we are attempting to move. This should be already
# happening but something on the firmware is either not enabling the motor or
# disabling the motor.
await self.engage_axes([axis])

# we can move to safe home distance!
if encoder_ok and motor_ok:
origin, target_pos = await self._retrieve_home_position(axis)
Expand Down Expand Up @@ -1657,13 +1663,20 @@ async def retract_axis(self, axis: Axis) -> None:

async with self._motion_lock:
if motor_ok and encoder_ok:
# TODO: (ba, 2024-04-19): We need to explictly engage the axis and enable
# the motor when we are attempting to move. This should be already
# happening but something on the firmware is either not enabling the motor or
# disabling the motor.
await self.engage_axes([axis])

# we can move to the home position without checking the limit switch
origin = await self._backend.update_position()
target_pos = {axis: self._backend.home_position()[axis]}
await self._backend.move(origin, target_pos, 400, HWStopCondition.none)
else:
# home the axis
await self._home_axis(axis)

await self._cache_current_position()
await self._cache_encoder_position()

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