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feat(hardware): move pipette up out of liquid before requesting data buffer #15852

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merged 2 commits into from
Aug 2, 2024
Merged

feat(hardware): move pipette up out of liquid before requesting data buffer #15852

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f1ea79f
add upward move before requesting data buffer
caila-marashaj Jul 31, 2024
4033293
slightly rearrage the timing of this
ryanthecoder Jul 31, 2024
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34 changes: 26 additions & 8 deletions hardware/opentrons_hardware/hardware_control/tool_sensors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,10 @@
MoveGroupStep,
)
from opentrons_hardware.hardware_control.move_group_runner import MoveGroupRunner
from opentrons_hardware.hardware_control.types import MotorPositionStatus
from opentrons_hardware.hardware_control.types import (
MotorPositionStatus,
MoveCompleteAck,
)

LOG = getLogger(__name__)
PipetteProbeTarget = Literal[NodeId.pipette_left, NodeId.pipette_right]
Expand Down Expand Up @@ -179,10 +182,15 @@ async def run_sync_buffer_to_csv(
tool: InstrumentProbeTarget,
sensor_type: SensorType,
output_file_heading: list[str],
raise_z: Optional[MoveGroupRunner] = None,
) -> Dict[NodeId, MotorPositionStatus]:
"""Runs the sensor pass move group and creates a csv file with the results."""
sensor_metadata = [0, 0, mount_speed, plunger_speed, threshold]
positions = await move_group.run(can_messenger=messenger)
if raise_z is not None:
# if probing is finished, move the head node back up before requesting the data buffer
if positions[head_node].move_ack == MoveCompleteAck.stopped_by_condition:
await raise_z.run(can_messenger=messenger)
# wait a little to see the dropoff curve
await asyncio.sleep(0.15)
for sensor_id in log_files.keys():
Expand Down Expand Up @@ -472,14 +480,24 @@ async def liquid_probe(
pressure_output_file_heading,
)
elif sync_buffer_output:
raise_z = create_step(
distance={head_node: float64(max_z_distance)},
velocity={head_node: float64(-1 * mount_speed)},
acceleration={},
duration=float64(max_z_distance / mount_speed),
present_nodes=[head_node],
)
raise_z_runner = MoveGroupRunner(move_groups=[[raise_z]])

return await run_sync_buffer_to_csv(
messenger,
mount_speed,
plunger_speed,
threshold_pascals,
head_node,
sensor_runner,
log_files,
messenger=messenger,
mount_speed=mount_speed,
plunger_speed=plunger_speed,
threshold=threshold_pascals,
head_node=head_node,
move_group=sensor_runner,
raise_z=raise_z_runner,
log_files=log_files,
tool=tool,
sensor_type=SensorType.pressure,
output_file_heading=pressure_output_file_heading,
Expand Down
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