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chore(api): clean up lld hardware layer #15200

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merged 4 commits into from
May 23, 2024
Merged

chore(api): clean up lld hardware layer #15200

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629867b
remove minimum z distance
ryanthecoder May 15, 2024
9a45d82
don't move the plunger more than we need to
ryanthecoder May 16, 2024
7a05d17
raise a hardware error instead of an assert
ryanthecoder May 23, 2024
90b9f7c
fix api tests
ryanthecoder May 23, 2024
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2 changes: 0 additions & 2 deletions api/src/opentrons/config/defaults_ot3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,6 @@
DEFAULT_LIQUID_PROBE_SETTINGS: Final[LiquidProbeSettings] = LiquidProbeSettings(
starting_mount_height=100,
max_z_distance=40,
min_z_distance=5,
mount_speed=10,
plunger_speed=5,
sensor_threshold_pascals=40,
Expand Down Expand Up @@ -337,7 +336,6 @@ def _build_default_liquid_probe(
"starting_mount_height", default.starting_mount_height
),
max_z_distance=from_conf.get("max_z_distance", default.max_z_distance),
min_z_distance=from_conf.get("min_z_distance", default.min_z_distance),
mount_speed=from_conf.get("mount_speed", default.mount_speed),
plunger_speed=from_conf.get("plunger_speed", default.plunger_speed),
sensor_threshold_pascals=from_conf.get(
Expand Down
1 change: 0 additions & 1 deletion api/src/opentrons/config/types.py
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Expand Up @@ -130,7 +130,6 @@ class OutputOptions(int, Enum):
class LiquidProbeSettings:
starting_mount_height: float
max_z_distance: float
min_z_distance: float
mount_speed: float
plunger_speed: float
sensor_threshold_pascals: float
Expand Down
19 changes: 14 additions & 5 deletions api/src/opentrons/hardware_control/ot3api.py
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Expand Up @@ -2580,13 +2580,22 @@ async def liquid_probe(
if probe_settings.aspirate_while_sensing:
await self._move_to_plunger_bottom(mount, rate=1.0)
else:
# TODO: shorten this distance by only moving just far enough
# to account for the specified "max-z-distance"
# find the ideal travel distance by multiplying the plunger speed
# by the time it will take to complete the z move.
ideal_travel = probe_settings.plunger_speed * (
probe_settings.max_z_distance / probe_settings.mount_speed
)

# TODO limit the z distance to the max allowed by the plunger travel at this speed.
# or here is probably the ideal place to implement multi-probe
assert (
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instrument.plunger_positions.bottom - ideal_travel
>= instrument.plunger_positions.top
)
target_point = instrument.plunger_positions.bottom - ideal_travel
target_pos = target_position_from_plunger(
checked_mount, instrument.plunger_positions.top, self._current_position
checked_mount, target_point, self._current_position
)
# FIXME: this should really be the slower "aspirate" speed,
# but this is still in testing phase so let's bias towards speed
max_speeds = self.config.motion_settings.default_max_speed
speed = max_speeds[self.gantry_load][OT3AxisKind.P]
await self._move(target_pos, speed=speed, acquire_lock=True)
Expand Down
1 change: 0 additions & 1 deletion api/tests/opentrons/config/ot3_settings.py
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Expand Up @@ -120,7 +120,6 @@
"liquid_sense": {
"starting_mount_height": 80,
"max_z_distance": 20,
"min_z_distance": 3,
"mount_speed": 10,
"plunger_speed": 10,
"sensor_threshold_pascals": 17,
Expand Down
1 change: 0 additions & 1 deletion api/tests/opentrons/hardware_control/backends/test_ot3_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -178,7 +178,6 @@ def fake_liquid_settings() -> LiquidProbeSettings:
return LiquidProbeSettings(
starting_mount_height=100,
max_z_distance=15,
min_z_distance=5,
mount_speed=40,
plunger_speed=10,
sensor_threshold_pascals=15,
Expand Down
2 changes: 0 additions & 2 deletions api/tests/opentrons/hardware_control/test_ot3_api.py
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Expand Up @@ -115,7 +115,6 @@ def fake_liquid_settings() -> LiquidProbeSettings:
return LiquidProbeSettings(
starting_mount_height=100,
max_z_distance=15,
min_z_distance=10,
mount_speed=40,
plunger_speed=10,
sensor_threshold_pascals=15,
Expand Down Expand Up @@ -800,7 +799,6 @@ async def test_liquid_probe(
fake_settings_aspirate = LiquidProbeSettings(
starting_mount_height=100,
max_z_distance=15,
min_z_distance=5,
mount_speed=40,
plunger_speed=10,
sensor_threshold_pascals=15,
Expand Down
12 changes: 0 additions & 12 deletions hardware-testing/hardware_testing/gravimetric/config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,6 @@ class PhotometricConfig(VolumetricConfig):
1: {
50: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 11,
"plunger_speed": 21,
"sensor_threshold_pascals": 150,
Expand All @@ -99,7 +98,6 @@ class PhotometricConfig(VolumetricConfig):
8: {
50: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 11,
"plunger_speed": 21,
"sensor_threshold_pascals": 150,
Expand All @@ -110,21 +108,18 @@ class PhotometricConfig(VolumetricConfig):
1: {
50: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 5,
"plunger_speed": 10,
"sensor_threshold_pascals": 200,
},
200: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 5,
"plunger_speed": 10,
"sensor_threshold_pascals": 200,
},
1000: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 5,
"plunger_speed": 11,
"sensor_threshold_pascals": 150,
Expand All @@ -133,21 +128,18 @@ class PhotometricConfig(VolumetricConfig):
8: {
50: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 5,
"plunger_speed": 10,
"sensor_threshold_pascals": 200,
},
200: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 5,
"plunger_speed": 10,
"sensor_threshold_pascals": 200,
},
1000: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 5,
"plunger_speed": 11,
"sensor_threshold_pascals": 150,
Expand All @@ -156,21 +148,18 @@ class PhotometricConfig(VolumetricConfig):
96: {
50: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 5,
"plunger_speed": 10,
"sensor_threshold_pascals": 200,
},
200: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 5,
"plunger_speed": 10,
"sensor_threshold_pascals": 200,
},
1000: {
"max_z_distance": 20,
"min_z_distance": 5,
"mount_speed": 5,
"plunger_speed": 11,
"sensor_threshold_pascals": 150,
Expand All @@ -189,7 +178,6 @@ def _get_liquid_probe_settings(
return LiquidProbeSettings(
starting_mount_height=well.top().point.z,
max_z_distance=min(well.depth, lqid_cfg["max_z_distance"]),
min_z_distance=lqid_cfg["min_z_distance"],
mount_speed=lqid_cfg["mount_speed"],
plunger_speed=lqid_cfg["plunger_speed"],
sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
Expand Down
1 change: 0 additions & 1 deletion hardware-testing/hardware_testing/liquid_sense/execute.py
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Expand Up @@ -355,7 +355,6 @@ def _run_trial(run_args: RunArgs, tip: int, well: Well, trial: int) -> float:
lps = LiquidProbeSettings(
starting_mount_height=start_height,
max_z_distance=z_dist,
min_z_distance=lqid_cfg["min_z_distance"],
mount_speed=run_args.z_speed,
plunger_speed=plunger_speed,
sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
Expand Down
1 change: 0 additions & 1 deletion hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py
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Expand Up @@ -1377,7 +1377,6 @@ async def _test_liquid_probe(
probe_settings = LiquidProbeSettings(
starting_mount_height=start_pos.z,
max_z_distance=max_z_distance_machine_coords, # FIXME: deck coords
min_z_distance=0, # FIXME: remove
mount_speed=probe_cfg.mount_speed,
plunger_speed=probe_cfg.plunger_speed,
sensor_threshold_pascals=probe_cfg.sensor_threshold_pascals,
Expand Down
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