moved magic numbers into shared-data LiquidProbeSettings

api/src/opentrons/config/defaults_ot3.py

@@ -29,6 +29,8 @@
     sensor_threshold_pascals=15,
     output_option=OutputOptions.sync_buffer_to_csv,
     aspirate_while_sensing=False,
+    samples_for_baselining=20,
+    sample_time_sec=0.004,
     data_files={InstrumentProbeType.PRIMARY: "/data/pressure_sensor_data.csv"},
 )
 
@@ -343,6 +345,10 @@ def _build_default_liquid_probe(
         aspirate_while_sensing=from_conf.get(
             "aspirate_while_sensing", default.aspirate_while_sensing
         ),
+        samples_for_baselining=from_conf.get(
+            "samples_for_baselining", default.samples_for_baselining
+        ),
+        sample_time_sec=from_conf.get("sample_time_sec", default.sample_time_sec),
         data_files=data_files,
     )
 

api/src/opentrons/config/types.py

@@ -137,6 +137,8 @@ class LiquidProbeSettings:
     sensor_threshold_pascals: float
     output_option: OutputOptions
     aspirate_while_sensing: bool
+    samples_for_baselining: int
+    sample_time_sec: float
     data_files: Optional[Dict[InstrumentProbeType, str]]
 
 

api/src/opentrons/hardware_control/ot3api.py

@@ -2606,17 +2606,17 @@ def remove_gripper_probe(self) -> None:
         self._gripper_handler.remove_probe()
 
     @staticmethod
-    def liquid_probe_non_responsive_z_distance(z_speed: float) -> float:
+    def liquid_probe_non_responsive_z_distance(
+        z_speed: float, samples_for_baselining: int, sample_time_sec: float
+    ) -> float:
         """Calculate the Z distance travelled where the LLD pass will be unresponsive."""
         # NOTE: (sigler) Here lye some magic numbers.
         #       The Z axis probing motion uses the first 20 samples to calculate
         #       a baseline for all following samples, making the very beginning of
         #       that Z motion unable to detect liquid. The sensor is configured for
         #       4ms sample readings, and so we then assume it takes ~80ms to complete.
-        #       If the Z is moving at 5mm/sec, then ~80ms equates to ~0.4
-        baseline_during_z_sample_num = 20  # FIXME: (sigler) shouldn't be defined here?
-        sample_time_sec = 0.004  # FIXME: (sigler) shouldn't be defined here?
-        baseline_duration_sec = baseline_during_z_sample_num * sample_time_sec
+        #       If the Z is moving at 5mm/sec, then ~80ms equates to ~0.4mm
+        baseline_duration_sec = samples_for_baselining * sample_time_sec
         non_responsive_z_mm = baseline_duration_sec * z_speed
         return non_responsive_z_mm
 
@@ -2710,7 +2710,9 @@ async def liquid_probe(
         # TODO: (sigler) add this to pipette's liquid def (per tip)
         z_overlap_between_passes_mm = 0.1
         sensor_baseline_z_move_mm = OT3API.liquid_probe_non_responsive_z_distance(
-            probe_settings.mount_speed
+            probe_settings.mount_speed,
+            probe_settings.samples_for_baselining,
+            probe_settings.sample_time_sec,
         )
         z_offset_per_pass = sensor_baseline_z_move_mm + z_overlap_between_passes_mm
 

api/tests/opentrons/config/ot3_settings.py

@@ -124,6 +124,8 @@
         "sensor_threshold_pascals": 17,
         "output_option": OutputOptions.stream_to_csv,
         "aspirate_while_sensing": False,
+        "samples_for_baselining": 20,
+        "sample_time_sec": 0.004,
         "data_files": {"PRIMARY": "/data/pressure_sensor_data.csv"},
     },
     "calibration": {

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -182,6 +182,8 @@ def fake_liquid_settings() -> LiquidProbeSettings:
         sensor_threshold_pascals=15,
         output_option=OutputOptions.can_bus_only,
         aspirate_while_sensing=False,
+        samples_for_baselining=20,
+        sample_time_sec=0.004,
         data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
     )
 

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -122,6 +122,8 @@ def fake_liquid_settings() -> LiquidProbeSettings:
         sensor_threshold_pascals=15,
         output_option=OutputOptions.can_bus_only,
         aspirate_while_sensing=False,
+        samples_for_baselining=20,
+        sample_time_sec=0.004,
         data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
     )
 
@@ -825,6 +827,8 @@ async def test_liquid_probe(
             sensor_threshold_pascals=15,
             output_option=OutputOptions.can_bus_only,
             aspirate_while_sensing=True,
+            samples_for_baselining=20,
+            sample_time_sec=0.004,
             data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
         )
         fake_max_z_dist = 10.0
@@ -901,8 +905,12 @@ async def test_liquid_probe_plunger_moves(
         fake_max_z_dist = 75.0
         config = ot3_hardware.config.liquid_sense
         mount_speed = config.mount_speed
+        samples_for_baselining = config.samples_for_baselining
+        sample_time_sec = config.sample_time_sec
         non_responsive_z_mm = ot3_hardware.liquid_probe_non_responsive_z_distance(
-            mount_speed
+            mount_speed,
+            samples_for_baselining,
+            sample_time_sec,
         )
 
         probe_pass_overlap = 0.1
@@ -995,8 +1003,12 @@ async def test_liquid_probe_mount_moves(
         fake_max_z_dist = 10.0
         config = ot3_hardware.config.liquid_sense
         mount_speed = config.mount_speed
+        samples_for_baselining = config.samples_for_baselining
+        sample_time_sec = config.sample_time_sec
         non_responsive_z_mm = ot3_hardware.liquid_probe_non_responsive_z_distance(
-            mount_speed
+            mount_speed,
+            samples_for_baselining,
+            sample_time_sec,
         )
 
         probe_pass_overlap = 0.1
@@ -1068,6 +1080,8 @@ async def test_multi_liquid_probe(
             sensor_threshold_pascals=15,
             output_option=OutputOptions.can_bus_only,
             aspirate_while_sensing=True,
+            samples_for_baselining=20,
+            sample_time_sec=0.004,
             data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
         )
         fake_max_z_dist = 10.0
@@ -1140,6 +1154,8 @@ async def _fake_pos_update_and_raise(
         sensor_threshold_pascals=15,
         output_option=OutputOptions.can_bus_only,
         aspirate_while_sensing=True,
+        samples_for_baselining=20,
+        sample_time_sec=0.004,
         data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
     )
     # with a mount speed of 5, pass overlap of 0.5 and a 0.2s delay on z

hardware-testing/hardware_testing/gravimetric/config.py

@@ -172,6 +172,8 @@ def _get_liquid_probe_settings(
         sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
         output_option=OutputOptions.sync_only,
         aspirate_while_sensing=False,
+        samples_for_baselining=20,
+        sample_time_sec=0.004,
         data_files={InstrumentProbeType.PRIMARY: "/data/testing_data/pressure.csv"},
     )
 

hardware-testing/hardware_testing/liquid_sense/execute.py

@@ -447,6 +447,8 @@ def _run_trial(
         sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
         output_option=OutputOptions.sync_buffer_to_csv,
         aspirate_while_sensing=run_args.aspirate,
+        samples_for_baselining=20,
+        sample_time_sec=0.004,
         data_files=data_files,
     )
 

hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py

@@ -1380,6 +1380,8 @@ async def _test_liquid_probe(
                 sensor_threshold_pascals=probe_cfg.sensor_threshold_pascals,
                 output_option=OutputOptions.can_bus_only,  # FIXME: remove
                 aspirate_while_sensing=False,
+                samples_for_baselining=20,
+                sample_time_sec=0.004,
                 data_files=None,
             )
             end_z = await api.liquid_probe(