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fix(api): LLD api math bugs #15860

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merged 6 commits into from
Aug 2, 2024
Merged

fix(api): LLD api math bugs #15860

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f8cec5e
fix rounding error
ryanthecoder Jul 31, 2024
763bb32
math change unsure if it works yet
caila-marashaj Jul 30, 2024
5fe7d07
pass_start_pos
caila-marashaj Jul 30, 2024
316a81d
fix tests
ryanthecoder Aug 2, 2024
c17f68d
make the logic a little clearer
ryanthecoder Aug 2, 2024
8dab939
lint
ryanthecoder Aug 2, 2024
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10 changes: 8 additions & 2 deletions api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
from dataclasses import replace
import logging
from collections import OrderedDict
from math import isclose
from typing import (
AsyncIterator,
cast,
Expand Down Expand Up @@ -2714,7 +2715,12 @@ async def liquid_probe(

error: Optional[PipetteLiquidNotFoundError] = None
pos = await self.gantry_position(checked_mount, refresh=True)
while (probe_start_pos.z - pos.z) < max_z_dist:
# probe_start_pos.z + z_distance of pass - pos.z should be < max_z_dist
# due to rounding errors this can get caught in an infinite loop when the distance is almost equal
# so we check to see if they're within 0.01 which is 1/5th the minimum movement distance from move_utils.py
while (probe_start_pos.z - pos.z) < max_z_dist and not isclose(
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Suggested change
while (probe_start_pos.z - pos.z) < max_z_dist and not isclose(
while (probe_start_pos.z - pos.z) < (max_z_dist + 0.01):

?

(probe_start_pos.z - pos.z), max_z_dist, rel_tol=0.01
):
# safe distance so we don't accidentally aspirate liquid if we're already close to liquid
safe_plunger_pos = top_types.Point(
pos.x, pos.y, pos.z + probe_safe_reset_mm
Expand All @@ -2724,7 +2730,7 @@ async def liquid_probe(
pos.x, pos.y, pos.z + probe_pass_z_offset_mm
)
max_z_time = (
max_z_dist - (probe_start_pos.z - safe_plunger_pos.z)
max_z_dist - probe_start_pos.z + pass_start_pos.z
) / probe_settings.mount_speed
p_travel_required_for_z = max_z_time * probe_settings.plunger_speed
p_pass_travel = min(p_travel_required_for_z, p_working_mm)
Expand Down
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