fix(api): bump y max bounds to match robot geometry

api/src/opentrons/drivers/smoothie_drivers/__init__.py

@@ -1,3 +1,17 @@
+from typing_extensions import Final
+
+
+HOMED_POSITION: Final = {
+    'X': 418.0,
+    'Y': 353.0,
+    'Z': 218.0,
+    'A': 218.0,
+    'B': 19.0,
+    'C': 19.0
+}
+Y_BOUND_OVERRIDE: Final = 370
+
+
 class SmoothieDriver(object):
 
     def __init__(self):
@@ -13,7 +27,6 @@ def __init__(self):
 class SimulatingDriver:
     def __init__(self):
         self._steps_per_mm = {}
-        self.homed_position = {}
 
     def home(self, axis):
         pass
@@ -81,3 +94,13 @@ def set_dwelling_current(self, settings):
 
     def set_acceleration(self, settings):
         pass
+
+    @property
+    def homed_position(self):
+        return HOMED_POSITION.copy()
+
+    @property
+    def axis_bounds(self):
+        position = HOMED_POSITION.copy()
+        position['Y'] = Y_BOUND_OVERRIDE
+        return position

api/src/opentrons/drivers/smoothie_drivers/driver_3_0.py

@@ -5,6 +5,7 @@
 from time import sleep, time
 from threading import Event, RLock
 from typing import Any, Dict, Optional, Union, List, Tuple, cast
+
 from math import isclose
 from serial.serialutil import SerialException  # type: ignore
 
@@ -17,6 +18,9 @@
 from opentrons.drivers.rpi_drivers.gpio_simulator import SimulatingGPIOCharDev
 from opentrons.drivers.rpi_drivers.dev_types import GPIODriverLike
 from opentrons.system import smoothie_update
+from . import HOMED_POSITION, Y_BOUND_OVERRIDE
+
+
 """
 - Driver is responsible for providing an interface for motion control
 - Driver is the only system component that knows about GCODES or how smoothie
@@ -31,18 +35,6 @@
 ERROR_KEYWORD = 'error'
 ALARM_KEYWORD = 'alarm'
 
-
-# TODO (artyom, ben 20171026): move to config
-HOMED_POSITION: Dict[str, float] = {
-    'X': 418,
-    'Y': 353,
-    'Z': 218,
-    'A': 218,
-    'B': 19,
-    'C': 19
-}
-
-
 PLUNGER_BACKLASH_MM = 0.3
 LOW_CURRENT_Z_SPEED = 30
 CURRENT_CHANGE_DELAY = 0.005
@@ -415,9 +407,15 @@ def gpio_chardev(self, gpio_chardev):
         self._gpio_chardev = gpio_chardev
 
     @property
-    def homed_position(self):
+    def homed_position(self) -> Dict[str, float]:
         return self._homed_position.copy()
 
+    @property
+    def axis_bounds(self) -> Dict[str, float]:
+        bounds = {k: v for k, v in self._homed_position.items()}
+        bounds['Y'] = Y_BOUND_OVERRIDE
+        return bounds
+
     def _update_position(self, target):
         self._position.update({
             axis: value

api/src/opentrons/hardware_control/controller.py

@@ -263,7 +263,7 @@ async def connect(self, port: str = None):
     def axis_bounds(self) -> Dict[Axis, Tuple[float, float]]:
         """ The (minimum, maximum) bounds for each axis. """
         return {Axis[ax]: (0, pos) for ax, pos
-                in self._smoothie_driver.homed_position.items()
+                in self._smoothie_driver.axis_bounds.items()
                 if ax not in 'BC'}
 
     @property

api/src/opentrons/hardware_control/simulator.py

@@ -5,7 +5,6 @@
 from threading import Event
 from typing import (Dict, Optional, List, Tuple,
                     TYPE_CHECKING, Sequence)
-from typing_extensions import Final
 from contextlib import contextmanager
 
 from opentrons_shared_data.pipette import dummy_model_for_name
@@ -17,6 +16,7 @@
                                              load)
 from opentrons.config.types import RobotConfig
 from opentrons.drivers.smoothie_drivers import SimulatingDriver
+
 from opentrons.drivers.rpi_drivers.gpio_simulator import SimulatingGPIOCharDev
 
 from . import modules
@@ -36,10 +36,6 @@
 MODULE_LOG = logging.getLogger(__name__)
 
 
-_HOME_POSITION = {'X': 418.0, 'Y': 353.0, 'Z': 218.0,
-                  'A': 218.0, 'B': 19.0, 'C': 19.0}
-
-
 class Simulator:
     """ This is a subclass of hardware_control that only simulates the
     hardware actions. It is suitable for use on a dev machine or on
@@ -116,7 +112,8 @@ def __init__(
         """
         self.config = config
         self._loop = loop
-        self._gpio_chardev: Final = gpio_chardev
+        self._smoothie_driver = SimulatingDriver()
+        self._gpio_chardev = gpio_chardev
 
         def _sanitize_attached_instrument(
                 passed_ai: Dict[str, Optional[str]] = None)\
@@ -139,13 +136,13 @@ def _sanitize_attached_instrument(
             m: _sanitize_attached_instrument(attached_instruments.get(m))
             for m in types.Mount}
         self._stubbed_attached_modules = attached_modules
-        self._position = copy.copy(_HOME_POSITION)
+        self._position = copy.copy(self._smoothie_driver.homed_position)
         # Engaged axes start all true in smoothie for some reason so we
         # imitate that here
         # TODO(LC2642019) Create a simulating driver for smoothie instead of
         # using a flag
-        self._smoothie_driver = SimulatingDriver()
-        self._engaged_axes = {ax: True for ax in _HOME_POSITION}
+
+        self._engaged_axes = {ax: True for ax in self._smoothie_driver.homed_position}
         self._lights = {'button': False, 'rails': False}
         self._run_flag = Event()
         self._run_flag.set()
@@ -169,7 +166,7 @@ def move(self, target_position: Dict[str, float],
     def home(self, axes: List[str] = None) -> Dict[str, float]:
         # driver_3_0-> HOMED_POSITION
         checked_axes = axes or 'XYZABC'
-        self._position.update({ax: _HOME_POSITION[ax]
+        self._position.update({ax: self._smoothie_driver.homed_position[ax]
                                for ax in checked_axes})
         self._engaged_axes.update({ax: True
                                    for ax in checked_axes})
@@ -178,7 +175,7 @@ def home(self, axes: List[str] = None) -> Dict[str, float]:
     def fast_home(
             self, axis: Sequence[str], margin: float) -> Dict[str, float]:
         for ax in axis:
-            self._position[ax] = _HOME_POSITION[ax]
+            self._position[ax] = self._smoothie_driver.homed_position[ax]
             self._engaged_axes[ax] = True
         return self._position
 
@@ -288,7 +285,8 @@ async def build_module(
     @property
     def axis_bounds(self) -> Dict[Axis, Tuple[float, float]]:
         """ The (minimum, maximum) bounds for each axis. """
-        return {Axis[ax]: (0, pos) for ax, pos in _HOME_POSITION.items()
+        return {Axis[ax]: (0, pos) for ax, pos
+                in self._smoothie_driver.axis_bounds.items()
                 if ax not in 'BC'}
 
     @property

api/src/opentrons/tools/overnight_test.py

@@ -29,8 +29,8 @@
 attempts_to_home = 1
 too_many_attempts_to_home = 3
 
-XY_TOLERANCE = 30
-ZA_TOLERANCE = 10
+XY_TOLERANCE = 30.0
+ZA_TOLERANCE = 10.0
 
 AXIS_TEST_SKIPPING_TOLERANCE = 0.5