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fix(app): home gripper G during recovery #16928

Merged
merged 1 commit into from
Nov 21, 2024
Merged

fix(app): home gripper G during recovery #16928

merged 1 commit into from
Nov 21, 2024

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mjhuff
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@mjhuff mjhuff commented Nov 21, 2024 •
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Closes RQA-3645

Overview

Recent gripper firmware changes add new degrees of G axis "home" state, and this ultimately causes the unsafe/ungripLabware command to fail, since a successful completion of the ungrip does not set the HOME flag. Because we ultimately want to ungrip the labware AND home the gripper G axis, let's use a parameterized home command instead.

Test Plan and Hands on Testing

  • Followed the steps outlined in the ticket. The command succeeds as expected.

Changelog

  • Fixed the "release from gripper jaws" command sometimes failing during Error Recovery.

Risk assessment

low

@mjhuff mjhuff requested a review from a team as a code owner November 21, 2024 15:40
TamarZanzouri
TamarZanzouri approved these changes Nov 21, 2024
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LGTM! lets just test this with an actual gripped labware

@mjhuff mjhuff changed the title fix(app): home extension during recovery fix(app): home gripper G during recovery Nov 21, 2024
sfoster1
sfoster1 approved these changes Nov 21, 2024
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Perfect

@mjhuff mjhuff merged commit d8ad367 into chore_release-8.2.0 Nov 21, 2024
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@mjhuff mjhuff deleted the app_home-extension-during-recovery branch November 21, 2024 16:37
@TamarZanzouri TamarZanzouri mentioned this pull request Nov 21, 2024
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@TamarZanzouri TamarZanzouri TamarZanzouri approved these changes

@sfoster1 sfoster1 sfoster1 approved these changes

@SyntaxColoring SyntaxColoring Awaiting requested review from SyntaxColoring

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@mjhuff @sfoster1 @TamarZanzouri