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

Opentrons · Aug 19, 2024 · c4473a1 · c4473a1
1 parent 81d4023
commit c4473a1
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Showing 28 changed files with 89 additions and 76 deletions.
diff --git a/api/src/opentrons/config/defaults_ot3.py b/api/src/opentrons/config/defaults_ot3.py
@@ -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,

diff --git a/api/tests/opentrons/hardware_control/test_ot3_api.py b/api/tests/opentrons/hardware_control/test_ot3_api.py
@@ -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,
@@ -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,
@@ -894,7 +906,6 @@ async def test_liquid_probe_plunger_moves(
             PipetteLiquidNotFoundError,
             PipetteLiquidNotFoundError,
             PipetteLiquidNotFoundError,
-            PipetteLiquidNotFoundError,
             140,
         ]
 
@@ -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,
@@ -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

diff --git a/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py b/api/tests/opentrons/protocol_engine/resources/test_pipette_data_provider.py
@@ -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
@@ -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}},
     )
 
 

diff --git a/shared-data/js/__tests__/pipettes.test.ts b/shared-data/js/__tests__/pipettes.test.ts
@@ -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,
           },
         },

diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_0.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_3.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_4.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p1000/3_5.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_0.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_0.json
@@ -40,7 +40,7 @@
   },
   "lldSettings": {
     "t50": {
-      "minHeight": 0.5,
+      "minHeight": 1.0,
       "minVolume": 0
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_3.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_3.json
@@ -40,7 +40,7 @@
   },
   "lldSettings": {
     "t50": {
-      "minHeight": 0.5,
+      "minHeight": 1.0,
       "minVolume": 0
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_4.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_4.json
@@ -40,7 +40,7 @@
   },
   "lldSettings": {
     "t50": {
-      "minHeight": 0.5,
+      "minHeight": 1.0,
       "minVolume": 0
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json b/shared-data/pipette/definitions/2/geometry/eight_channel/p50/3_5.json
@@ -40,7 +40,7 @@
   },
   "lldSettings": {
     "t50": {
-      "minHeight": 0.5,
+      "minHeight": 1.0,
       "minVolume": 0
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_0.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_3.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_4.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_5.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_6.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p1000/3_6.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_0.json
@@ -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
     }
   }

diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/geometry/single_channel/p1000/3_3.json
@@ -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
     }
   }