full tip pick up test script

Opentrons · Apr 23, 2024 · d940953 · d940953
1 parent ee1bca7
commit d940953
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -2172,6 +2172,7 @@ def add_tip_to_instr() -> None:
                     realmount, top_types.Point(z=spec.z_distance_to_tiprack)
                 )
             await self._tip_motor_action(realmount, spec.tip_action_moves)
+            press_dist = 0
         else:
             spec = self._pipette_handler.plan_lt_pick_up_tip(
                 realmount,

diff --git a/hardware-testing/hardware_testing/scripts/96_channel_pick_up_tip.py b/hardware-testing/hardware_testing/scripts/96_channel_pick_up_tip.py
@@ -280,9 +280,8 @@ async def calibrate_tiprack(api, home_position, mount):
                         tiprack_loc[Axis.by_mount(mount)])
     initial_press_dist = await api.encoder_current_position_ot3(mount, cp)
     print(f'Initial Press Position: {initial_press_dist[Axis.by_mount(mount)]}')
-    press_dist = await api.pick_up_tip(
+    enc = await api.pick_up_tip(
         mount, tip_length=(tip_length[args.tip_size]-tip_overlap))
-    print(f'Press Position:{press_dist[Axis.by_mount(mount)]}')
     return tiprack_loc
 
 async def _main() -> None:
@@ -372,7 +371,7 @@ async def _main() -> None:
     # Calibrate to tiprack
     if args.calibrate:
         print("Calibrate Tiprack")
-        pickup_loc, droptip_loc = await calibrate_tiprack(hw_api, home_position, mount)
+        pickup_loc = await calibrate_tiprack(hw_api, home_position, mount)
         deck_slot['deck_slot'][args.tiprack_slot][Axis.X.name] = pickup_loc.x
         deck_slot['deck_slot'][args.tiprack_slot][Axis.Y.name] = pickup_loc.y
         deck_slot['deck_slot'][args.tiprack_slot]['Z'] = pickup_loc.z
@@ -438,6 +437,7 @@ async def _main() -> None:
             drop_tip_location =  Point(30 , 60 , 110.5)
             await move_to_point(hw_api, mount, drop_tip_location, cp)
             await hw_api.drop_tip(mount)
+            input("Press Enter")
             # m_current = float(input("motor_current in amps: "))
             # pick_up_speed = float(input("pick up tip speed in mm/s: "))
             # await update_pick_up_current(hw_api, mount, m_current)
@@ -447,11 +447,10 @@ async def _main() -> None:
             await move_to_point(hw_api, mount, pickup_loc, cp)
             initial_press_dist = await hw_api.encoder_current_position_ot3(mount, cp)
             print(f'inital press position: {initial_press_dist[Axis.by_mount(mount)]}')
-            press_dist = await hw_api.pick_up_tip(mount,
+            enc = await hw_api.pick_up_tip(mount,
                                     tip_length=(tip_length[args.tip_size]-tip_overlap),
                                     presses = 1,
                                     increment = 0)
-            print(f'Press Position: {press_dist[Axis.by_mount(mount)]}')
 
     except KeyboardInterrupt:
         await hw_api.disengage_axes([Axis.X, Axis.Y])