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Test Tip Length In SZ
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* use serial port by slect
* modified the boudrate to 2400
* formate the received pack and read 5 times
* use Axis instead of OT3Axis
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@Andiiiiiiyy
Andiiiiiiyy committed Apr 30, 2024
1 parent 2cceaec commit 496a1ed
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Showing 2 changed files with 57 additions and 27 deletions.
11 changes: 8 additions & 3 deletions hardware-testing/hardware_testing/drivers/mitutoyo_digimatic_indicator.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -54,15 +54,20 @@ def _get_packet(self) -> str:

def read(self) -> float:
"""Reads dial indicator."""
data_list = []
self.packet = self.GCODE["READ"]
self._send_packet(self.packet)
time.sleep(0.001)
reading = True
while reading:
self._send_packet(self.packet)
time.sleep(0.01)

data = self._get_packet()
if data != "":
data_list.append(float(data[3:]))
if data != "" and len(data_list)>5: # read 5 times and get lasted number
reading = False
return float(data)
print("Data List:", data_list)
return float(data_list[-1])

def read_stable(self, timeout: float = 5) -> float:
"""Reads dial indicator with stable reading."""
Expand Down
73 changes: 49 additions & 24 deletions hardware-testing/hardware_testing/scripts/pipette_tip_length_test_production.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,12 @@
import termios
import tty
import json
import serial.tools.list_ports

from opentrons.hardware_control.motion_utilities import target_position_from_plunger
from hardware_testing.opentrons_api.types import (
OT3Mount,
OT3Axis,
Axis,
Point,
CriticalPoint,
)
Expand All @@ -43,15 +44,39 @@ def file_setup(test_data, details):
test_id = data.create_run_id()
test_path = data.create_folder_for_test_data(test_name)
test_file = data.create_file_name(test_name, test_id, test_tag)
data.append_data_to_file(test_name, test_file, test_header)
data.append_data_to_file(test_name, test_id, test_file, test_header)
print("FILE PATH = ", test_path)
print("FILE NAME = ", test_file)
return test_name, test_file


def dial_indicator_setup():

def get_com_list():
port_list = serial.tools.list_ports.comports()
return port_list

def get_device(select_default=False):
"""
select device
:return:
"""
port_list = get_com_list()
print("=" * 5 + "PORT LIST" + "=" * 5)
for index, p in enumerate(port_list):
print(f"{index + 1} >>{p.device}")
if select_default:
select = '1'
else:
select = input("Select Port Number(输入串口号对应的数字):")
device = port_list[int(select.strip()) - 1].device
return device
_port = get_device()
print("Port: ", _port)

gauge = mitutoyo_digimatic_indicator.Mitutoyo_Digimatic_Indicator(
port="/dev/ttyUSB0"
# port="/dev/ttyUSB0"
port=_port, baudrate=2400
)
gauge.connect()
return gauge
Expand All @@ -76,7 +101,7 @@ def _getch():
return _getch()


async def jog(api, position, cp) -> Dict[OT3Axis, float]:
async def jog(api, position, cp) -> Dict[Axis, float]:
step_size = [0.01, 0.05, 0.1, 0.5, 1, 10, 20, 50]
step_length_index = 3
step = step_size[step_length_index]
Expand Down Expand Up @@ -169,11 +194,11 @@ async def jog(api, position, cp) -> Dict[OT3Axis, float]:

print(
"Coordinates: ",
round(position[OT3Axis.X], 2),
round(position[Axis.X], 2),
",",
round(position[OT3Axis.Y], 2),
round(position[Axis.Y], 2),
",",
round(position[OT3Axis.by_mount(mount)], 2),
round(position[Axis.by_mount(mount)], 2),
" Motor Step: ",
step_size[step_length_index],
end="",
Expand All @@ -184,8 +209,8 @@ async def move_to_point(api, mount, point, cp):
home_pos = api.get_instrument_max_height(mount, cp)
pos = await api.current_position_ot3(mount, refresh=True, critical_point = cp)
await api.move_to(mount,
Point(pos[OT3Axis.X],
pos[OT3Axis.Y],
Point(pos[Axis.X],
pos[Axis.Y],
home_pos))
await api.move_to(mount,
Point(point.x,
Expand Down Expand Up @@ -252,11 +277,11 @@ async def _main() -> None:
await asyncio.sleep(1)
nozzle_measurement = gauge.read()
noz_loc = await hw_api.encoder_current_position_ot3(mount = mount, critical_point = cp)
noz_loc = noz_loc[OT3Axis.by_mount(mount)]
noz_loc = noz_loc[Axis.by_mount(mount)]
await asyncio.sleep(2)
nozzle_dial_point = Point(nozzle_dial_loc[OT3Axis.X],
nozzle_dial_loc[OT3Axis.Y],
nozzle_dial_loc[OT3Axis.by_mount(mount)])
nozzle_dial_point = Point(nozzle_dial_loc[Axis.X],
nozzle_dial_loc[Axis.Y],
nozzle_dial_loc[Axis.by_mount(mount)])

if args.tiprack:
cp = CriticalPoint.NOZZLE
Expand All @@ -275,12 +300,12 @@ async def _main() -> None:
tip_count = 1
cp = CriticalPoint.TIP
tiprack_loc = Point(
tiprack_loc[OT3Axis.X],
tiprack_loc[OT3Axis.Y],
tiprack_loc[OT3Axis.by_mount(mount)])
tiprack_loc[Axis.X],
tiprack_loc[Axis.Y],
tiprack_loc[Axis.by_mount(mount)])
await move_to_point(hw_api, mount, nozzle_dial_point, cp)
tip_loc = await hw_api.encoder_current_position_ot3(mount, CriticalPoint.NOZZLE)
tip_loc = tip_loc[OT3Axis.by_mount(mount)]
tip_loc = tip_loc[Axis.by_mount(mount)]
await asyncio.sleep(3)
tip_measurement = gauge.read()
await asyncio.sleep(1)
Expand All @@ -289,7 +314,7 @@ async def _main() -> None:
measured_tip_overlap = tip_attached + measured_tip_overlap
print(f"Tip_Overlap: {measured_tip_overlap}")
d_str = f"{pipette_id}, {noz_loc},{tip_loc}, {measured_tip_overlap}, {nozzle_measurement}, {tip_measurement}, {tip_attached}, {tip_count}, {tip_length[args.tip_size] + tip_overlap}, Nozzle \n"
data.append_data_to_file(test_n, test_f, d_str)
data.append_data_to_file(test_n, "", test_f, d_str)

# Move to trash slot
cp = CriticalPoint.TIP
Expand All @@ -311,7 +336,7 @@ async def _main() -> None:
cp = CriticalPoint.NOZZLE
await move_to_point(hw_api, mount, nozzle_dial_point, cp)
noz_loc = await hw_api.encoder_current_position_ot3(mount, cp)
noz_loc = noz_loc[OT3Axis.by_mount(mount)]
noz_loc = noz_loc[Axis.by_mount(mount)]
await asyncio.sleep(3)
nozzle_measurement = gauge.read()
await asyncio.sleep(1)
Expand All @@ -333,13 +358,13 @@ async def _main() -> None:
await asyncio.sleep(1)
tip_loc = await hw_api.encoder_current_position_ot3(mount = mount,
critical_point = CriticalPoint.NOZZLE)
tip_loc = tip_loc[OT3Axis.by_mount(mount)]
tip_loc = tip_loc[Axis.by_mount(mount)]
measured_tip_overlap = (tip_length[args.tip_size]+tip_overlap) - (tip_loc - noz_loc) # tiplength - tip overlap.
tip_attached = (nozzle_measurement - tip_measurement)
measured_tip_overlap = tip_attached + measured_tip_overlap
print(f"Tip_Overlap: {measured_tip_overlap}")
d_str = f"{pipette_id}, {noz_loc},{tip_loc}, {measured_tip_overlap}, {nozzle_measurement}, {tip_measurement}, {tip_attached}, {tip_count}, {tip_length[args.tip_size] + tip_overlap}, Nozzle \n"
data.append_data_to_file(test_n, test_f, d_str)
data.append_data_to_file(test_n, "", test_f, d_str)
# --------------------Drop Tip--------------------------------------
current_position = await hw_api.current_position_ot3(
mount, critical_point=CriticalPoint.TIP
Expand All @@ -348,11 +373,11 @@ async def _main() -> None:
await hw_api.drop_tip(mount)
tip_count += 1

await hw_api.disengage_axes([OT3Axis.X, OT3Axis.Y, OT3Axis.Z_L, OT3Axis.Z_R])
await hw_api.disengage_axes([Axis.X, Axis.Y, Axis.Z_L, Axis.Z_R])
except KeyboardInterrupt:
await hw_api.disengage_axes([OT3Axis.X, OT3Axis.Y, OT3Axis.Z_L, OT3Axis.Z_R])
await hw_api.disengage_axes([Axis.X, Axis.Y, Axis.Z_L, Axis.Z_R])
finally:
await hw_api.disengage_axes([OT3Axis.X, OT3Axis.Y, OT3Axis.Z_L, OT3Axis.Z_R])
await hw_api.disengage_axes([Axis.X, Axis.Y, Axis.Z_L, Axis.Z_R])
await hw_api.clean_up()

if __name__ == "__main__":
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