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chore(api, shared-data): Update LLD settings after testing #16018

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merged 7 commits into from
Aug 19, 2024
Merged

chore(api, shared-data): Update LLD settings after testing #16018

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4347fff
slow default lld plunger speed from 20 to 15
andySigler Aug 15, 2024
4db15e7
update minHeight LLD values for all pipettes and tips
andySigler Aug 15, 2024
7b280be
fix api test
andySigler Aug 15, 2024
a734821
fix shared-data test
andySigler Aug 15, 2024
8b73c99
change plunger speeds in test to 15
andySigler Aug 15, 2024
97af82a
pull magic numbers out of the test
ryanthecoder Aug 16, 2024
1f358d3
format test
andySigler Aug 19, 2024
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2 changes: 1 addition & 1 deletion api/src/opentrons/config/defaults_ot3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@

DEFAULT_LIQUID_PROBE_SETTINGS: Final[LiquidProbeSettings] = LiquidProbeSettings(
mount_speed=5,
plunger_speed=20,
plunger_speed=15,
plunger_impulse_time=0.2,
sensor_threshold_pascals=15,
output_option=OutputOptions.sync_buffer_to_csv,
Expand Down
45 changes: 29 additions & 16 deletions api/tests/opentrons/hardware_control/test_ot3_api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,7 @@ def fake_settings() -> CapacitivePassSettings:
def fake_liquid_settings() -> LiquidProbeSettings:
return LiquidProbeSettings(
mount_speed=5,
plunger_speed=20,
plunger_speed=15,
plunger_impulse_time=0.2,
sensor_threshold_pascals=15,
output_option=OutputOptions.can_bus_only,
Expand Down Expand Up @@ -820,19 +820,31 @@ async def test_liquid_probe(
mock_liquid_probe.return_value = 140
fake_settings_aspirate = LiquidProbeSettings(
mount_speed=5,
plunger_speed=20,
plunger_speed=15,
plunger_impulse_time=0.2,
sensor_threshold_pascals=15,
output_option=OutputOptions.can_bus_only,
aspirate_while_sensing=True,
data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
)
fake_max_z_dist = 10.0
non_responsive_z_mm = ot3_hardware.liquid_probe_non_responsive_z_distance(
fake_settings_aspirate.mount_speed
)

probe_pass_overlap = 0.1
probe_pass_z_offset_mm = non_responsive_z_mm + probe_pass_overlap
probe_safe_reset_mm = max(2.0, probe_pass_z_offset_mm)

await ot3_hardware.liquid_probe(mount, fake_max_z_dist, fake_settings_aspirate)
mock_move_to_plunger_bottom.call_count == 2
mock_liquid_probe.assert_called_once_with(
mount,
46,
(
(fake_max_z_dist - probe_pass_z_offset_mm + probe_safe_reset_mm)
/ fake_settings_aspirate.mount_speed
)
* fake_settings_aspirate.plunger_speed,
fake_settings_aspirate.mount_speed,
(fake_settings_aspirate.plunger_speed * -1),
fake_settings_aspirate.sensor_threshold_pascals,
Expand Down Expand Up @@ -894,7 +906,6 @@ async def test_liquid_probe_plunger_moves(
PipetteLiquidNotFoundError,
PipetteLiquidNotFoundError,
PipetteLiquidNotFoundError,
PipetteLiquidNotFoundError,
140,
]

Expand All @@ -909,17 +920,6 @@ async def test_liquid_probe_plunger_moves(
probe_pass_z_offset_mm = non_responsive_z_mm + probe_pass_overlap
probe_safe_reset_mm = max(2.0, probe_pass_z_offset_mm)

# simulate multiple passes of liquid probe
mock_gantry_position.side_effect = [
Point(x=0, y=0, z=100),
Point(x=0, y=0, z=100),
Point(x=0, y=0, z=100),
Point(x=0, y=0, z=82.15),
Point(x=0, y=0, z=64.3),
Point(x=0, y=0, z=46.45),
Point(x=0, y=0, z=28.6),
Point(x=0, y=0, z=25),
]
probe_start_pos = await ot3_hardware.gantry_position(mount)
safe_plunger_pos = Point(
probe_start_pos.x,
Expand All @@ -930,7 +930,20 @@ async def test_liquid_probe_plunger_moves(
p_impulse_mm = config.plunger_impulse_time * config.plunger_speed
p_total_mm = pipette.plunger_positions.bottom - pipette.plunger_positions.top
p_working_mm = p_total_mm - (pipette.backlash_distance + p_impulse_mm)

# simulate multiple passes of liquid probe
z_pass = (
(p_total_mm - pipette.backlash_distance)
/ config.plunger_speed
* config.mount_speed
)
mock_gantry_position.side_effect = [
Point(x=0, y=0, z=100),
Point(x=0, y=0, z=100),
Point(x=0, y=0, z=100 - z_pass),
Point(x=0, y=0, z=100 - 2 * z_pass),
Point(x=0, y=0, z=100 - 3 * z_pass),
Point(x=0, y=0, z=25),
]
max_z_time = (
fake_max_z_dist - (probe_start_pos.z - safe_plunger_pos.z)
) / config.mount_speed
Expand Down
4 changes: 2 additions & 2 deletions api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ def test_configure_virtual_pipette_for_volume(
nozzle_map=result1.nozzle_map,
back_left_corner_offset=Point(-8.0, -22.0, -259.15),
front_right_corner_offset=Point(-8.0, -22.0, -259.15),
pipette_lld_settings={"t50": {"minHeight": 0.5, "minVolume": 0.0}},
pipette_lld_settings={"t50": {"minHeight": 1.0, "minVolume": 0.0}},
)
subject_instance.configure_virtual_pipette_for_volume(
"my-pipette", 1, result1.model
Expand All @@ -119,7 +119,7 @@ def test_configure_virtual_pipette_for_volume(
nozzle_map=result2.nozzle_map,
back_left_corner_offset=Point(-8.0, -22.0, -259.15),
front_right_corner_offset=Point(-8.0, -22.0, -259.15),
pipette_lld_settings={"t50": {"minHeight": 0.5, "minVolume": 0.0}},
pipette_lld_settings={"t50": {"minHeight": 1.0, "minVolume": 0.0}},
)


Expand Down
6 changes: 3 additions & 3 deletions shared-data/js/__tests__/pipettes.test.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -151,15 +151,15 @@ describe('pipette data accessors', () => {
},
lldSettings: {
t50: {
minHeight: 0.5,
minHeight: 1.0,
minVolume: 0,
},
t200: {
minHeight: 0.5,
minHeight: 1.0,
minVolume: 0,
},
t1000: {
minHeight: 0.5,
minHeight: 1.5,
minVolume: 0,
},
},
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json
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Original file line number Diff line number Diff line change
Expand Up @@ -40,15 +40,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json
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Original file line number Diff line number Diff line change
Expand Up @@ -40,15 +40,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json
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Original file line number Diff line number Diff line change
Expand Up @@ -40,15 +40,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json
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Original file line number Diff line number Diff line change
Expand Up @@ -40,15 +40,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
}
}
Expand Down
2 changes: 1 addition & 1 deletion shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_0.json
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
}
}
Expand Down
2 changes: 1 addition & 1 deletion shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_3.json
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
}
}
Expand Down
2 changes: 1 addition & 1 deletion shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_4.json
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
}
}
Expand Down
2 changes: 1 addition & 1 deletion shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_0.json
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Original file line number Diff line number Diff line change
Expand Up @@ -294,15 +294,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 2.0,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_3.json
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Original file line number Diff line number Diff line change
Expand Up @@ -294,15 +294,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 2.0,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_4.json
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Original file line number Diff line number Diff line change
Expand Up @@ -294,15 +294,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 2.0,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json
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Original file line number Diff line number Diff line change
Expand Up @@ -294,15 +294,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 2.0,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_6.json
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Original file line number Diff line number Diff line change
Expand Up @@ -294,15 +294,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 2.0,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_0.json
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Expand Up @@ -13,15 +13,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
}
}
Expand Down
6 changes: 3 additions & 3 deletions shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_3.json
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Original file line number Diff line number Diff line change
Expand Up @@ -13,15 +13,15 @@
},
"lldSettings": {
"t50": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t200": {
"minHeight": 0.5,
"minHeight": 1.0,
"minVolume": 0
},
"t1000": {
"minHeight": 0.5,
"minHeight": 1.5,
"minVolume": 0
}
}
Expand Down
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