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fix(api): remove homing patch fix for right mount when a 96-channel is attached #14975

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merged 1 commit into from
Apr 22, 2024
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fix(api): remove homing patch fix for right mount when a 96-channel is attached #14975

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8 changes: 1 addition & 7 deletions api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1521,14 +1521,8 @@ async def _home_axis(self, axis: Axis) -> None:
# G, Q should be handled in the backend through `self._home()`
assert axis not in [Axis.G, Axis.Q]

# TODO(CM): This is a temporary fix in response to the right mount causing
# errors while trying to home on startup or attachment. We should remove this
# when we fix this issue in the firmware.
enable_right_mount_on_startup = (
self._gantry_load == GantryLoad.HIGH_THROUGHPUT and axis == Axis.Z_R
)
encoder_ok = self._backend.check_encoder_status([axis])
if encoder_ok or enable_right_mount_on_startup:
if encoder_ok:
# enable motor (if needed) and update estimation
await self._enable_before_update_estimation(axis)

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