chore: Separate lt and ht pickup and dropoff

api/src/opentrons/hardware_control/instruments/ot2/pipette.py

@@ -12,7 +12,8 @@
     PlungerPositions,
     MotorConfigurations,
     SupportedTipsDefinition,
-    TipHandlingConfigurations,
+    PickUpTipConfigurations,
+    DropTipConfigurations,
     PipetteModelVersionType,
     PipetteNameType,
     PipetteLiquidPropertiesDefinition,
@@ -109,10 +110,7 @@ def __init__(
         )
         self._nozzle_offset = self._config.nozzle_offset
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap(
-                self._config.nozzle_map,
-                self._config.partial_tip_configurations.per_tip_pickup_current,
-            )
+            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
         )
         self._current_volume = 0.0
         self._working_volume = float(self._liquid_class.max_volume)
@@ -230,17 +228,15 @@ def plunger_motor_current(self) -> MotorConfigurations:
         return self._config.plunger_motor_configurations
 
     @property
-    def pick_up_configurations(self) -> TipHandlingConfigurations:
+    def pick_up_configurations(self) -> PickUpTipConfigurations:
         return self._config.pick_up_tip_configurations
 
     @pick_up_configurations.setter
-    def pick_up_configurations(
-        self, pick_up_configs: TipHandlingConfigurations
-    ) -> None:
+    def pick_up_configurations(self, pick_up_configs: PickUpTipConfigurations) -> None:
         self._pick_up_configurations = pick_up_configs
 
     @property
-    def drop_configurations(self) -> TipHandlingConfigurations:
+    def drop_configurations(self) -> DropTipConfigurations:
         return self._config.drop_tip_configurations
 
     @property
@@ -292,10 +288,7 @@ def reset_state(self) -> None:
 
         self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap(
-                self._config.nozzle_map,
-                self._config.partial_tip_configurations.per_tip_pickup_current,
-            )
+            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
         )
 
     def reset_pipette_offset(self, mount: Mount, to_default: bool) -> None:

api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py

@@ -768,24 +768,24 @@ def plan_check_pick_up_tip(  # type: ignore[no-untyped-def]
         self._ihp_log.debug(f"Picking up tip on {mount.name}")
 
         if presses is None or presses < 0:
-            checked_presses = instrument.pick_up_configurations.presses
+            checked_presses = instrument.pick_up_configurations.press_fit.presses
         else:
             checked_presses = presses
 
         if not increment or increment < 0:
-            check_incr = instrument.pick_up_configurations.increment
+            check_incr = instrument.pick_up_configurations.press_fit.increment
         else:
             check_incr = increment
 
-        pick_up_speed = instrument.pick_up_configurations.speed
+        pick_up_speed = instrument.pick_up_configurations.press_fit.speed
 
         def build_presses() -> Iterator[Tuple[float, float]]:
             # Press the nozzle into the tip <presses> number of times,
             # moving further by <increment> mm after each press
             for i in range(checked_presses):
                 # move nozzle down into the tip
                 press_dist = (
-                    -1.0 * instrument.pick_up_configurations.distance
+                    -1.0 * instrument.pick_up_configurations.press_fit.distance
                     + -1.0 * check_incr * i
                 )
                 # move nozzle back up
@@ -808,7 +808,9 @@ def add_tip_to_instr() -> None:
                             current={
                                 Axis.by_mount(
                                     mount
-                                ): instrument.nozzle_manager.get_tip_configuration_current()
+                                ): instrument.pick_up_configurations.press_fit.current_by_tip_count[
+                                    instrument.nozzle_manager.current_configuration.tip_count
+                                ]
                             },
                             speed=pick_up_speed,
                             relative_down=top_types.Point(0, 0, press_dist),
@@ -817,7 +819,7 @@ def add_tip_to_instr() -> None:
                         for press_dist, backup_dist in build_presses()
                     ],
                     shake_off_list=self._build_pickup_shakes(instrument),
-                    retract_target=instrument.pick_up_configurations.distance
+                    retract_target=instrument.pick_up_configurations.press_fit.distance
                     + check_incr * checked_presses
                     + 2,
                 ),
@@ -837,7 +839,9 @@ def add_tip_to_instr() -> None:
                             current={
                                 Axis.by_mount(
                                     mount
-                                ): instrument.nozzle_manager.get_tip_configuration_current()
+                                ): instrument.pick_up_configurations.press_fit.current_by_tip_count[
+                                    instrument.nozzle_manager.current_configuration.tip_count
+                                ]
                             },
                             speed=pick_up_speed,
                             relative_down=top_types.Point(0, 0, press_dist),
@@ -846,7 +850,7 @@ def add_tip_to_instr() -> None:
                         for press_dist, backup_dist in build_presses()
                     ],
                     shake_off_list=self._build_pickup_shakes(instrument),
-                    retract_target=instrument.pick_up_configurations.distance
+                    retract_target=instrument.pick_up_configurations.press_fit.distance
                     + check_incr * checked_presses
                     + 2,
                 ),
@@ -923,9 +927,13 @@ def plan_check_drop_tip(  # type: ignore[no-untyped-def]
     ):
         instrument = self.get_pipette(mount)
 
+        if not instrument.drop_configurations.plunger_eject:
+            raise CommandPreconditionViolated(
+                f"Pipette {instrument.name} on {mount.name} has no plunger eject configuration"
+            )
         bottom = instrument.plunger_positions.bottom
         droptip = instrument.plunger_positions.drop_tip
-        speed = instrument.drop_configurations.speed
+        speed = instrument.drop_configurations.plunger_eject.speed
         shakes: List[Tuple[top_types.Point, Optional[float]]] = []
         if Quirks.dropTipShake in instrument.config.quirks:
             diameter = instrument.current_tiprack_diameter
@@ -941,7 +949,11 @@ def _remove_tips() -> None:
                 bottom,
                 droptip,
                 {Axis.of_plunger(mount): instrument.plunger_motor_current.run},
-                {Axis.of_plunger(mount): instrument.drop_configurations.current},
+                {
+                    Axis.of_plunger(
+                        mount
+                    ): instrument.drop_configurations.plunger_eject.current
+                },
                 speed,
                 home_after,
                 (Axis.of_plunger(mount),),
@@ -971,7 +983,7 @@ def _remove_tips() -> None:
                 {
                     Axis.of_main_tool_actuator(
                         mount
-                    ): instrument.drop_configurations.current
+                    ): instrument.drop_configurations.plunger_eject.current
                 },
                 speed,
                 home_after,

api/src/opentrons/hardware_control/instruments/ot3/pipette.py

@@ -11,7 +11,10 @@
     PlungerPositions,
     MotorConfigurations,
     SupportedTipsDefinition,
-    TipHandlingConfigurations,
+    PickUpTipConfigurations,
+    PressFitPickUpTipConfiguration,
+    CamActionPickUpTipConfiguration,
+    DropTipConfigurations,
     PlungerHomingConfigurations,
     PipetteNameType,
     PipetteModelVersionType,
@@ -95,10 +98,7 @@ def __init__(
         )
         self._nozzle_offset = self._config.nozzle_offset
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap(
-                self._config.nozzle_map,
-                self._config.partial_tip_configurations.per_tip_pickup_current,
-            )
+            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
         )
         self._current_volume = 0.0
         self._working_volume = float(self._liquid_class.max_volume)
@@ -185,21 +185,19 @@ def plunger_motor_current(self) -> MotorConfigurations:
         return self._plunger_motor_current
 
     @property
-    def pick_up_configurations(self) -> TipHandlingConfigurations:
+    def pick_up_configurations(self) -> PickUpTipConfigurations:
         return self._pick_up_configurations
 
     @pick_up_configurations.setter
-    def pick_up_configurations(
-        self, pick_up_configs: TipHandlingConfigurations
-    ) -> None:
+    def pick_up_configurations(self, pick_up_configs: PickUpTipConfigurations) -> None:
         self._pick_up_configurations = pick_up_configs
 
     @property
     def plunger_homing_configurations(self) -> PlungerHomingConfigurations:
         return self._plunger_homing_configurations
 
     @property
-    def drop_configurations(self) -> TipHandlingConfigurations:
+    def drop_configurations(self) -> DropTipConfigurations:
         return self._drop_configurations
 
     @property
@@ -258,10 +256,7 @@ def reset_state(self) -> None:
 
         self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary
         self._nozzle_manager = (
-            nozzle_manager.NozzleConfigurationManager.build_from_nozzlemap(
-                self._config.nozzle_map,
-                self._config.partial_tip_configurations.per_tip_pickup_current,
-            )
+            nozzle_manager.NozzleConfigurationManager.build_from_config(self._config)
         )
 
     def reset_pipette_offset(self, mount: OT3Mount, to_default: bool) -> None:
@@ -510,14 +505,6 @@ def tip_presence_responses(self) -> int:
         # TODO: put this in shared-data
         return 2 if self.channels > 8 else 1
 
-    @property
-    def connect_tiprack_distance_mm(self) -> float:
-        return self._config.connect_tiprack_distance_mm
-
-    @property
-    def end_tip_action_retract_distance_mm(self) -> float:
-        return self._config.end_tip_action_retract_distance_mm
-
     # Cache max is chosen somewhat arbitrarily. With a float is input we don't
     # want this to unbounded.
     @functools.lru_cache(maxsize=100)
@@ -672,6 +659,21 @@ def set_tip_type(self, tip_type: pip_types.PipetteTipType) -> None:
         self._tip_overlap_lookup = self.liquid_class.tip_overlap_dictionary
         self._working_volume = min(tip_type.value, self.liquid_class.max_volume)
 
+    def get_pick_up_configuration_for_tip_count(
+        self, count: int
+    ) -> Union[CamActionPickUpTipConfiguration, PressFitPickUpTipConfiguration]:
+        for config in (
+            self._config.pick_up_tip_configurations.press_fit,
+            self._config.pick_up_tip_configurations.cam_action,
+        ):
+            if not config:
+                continue
+            if count in config.current_by_tip_count:
+                return config
+        raise CommandPreconditionViolated(
+            message=f"No pick up tip configuration for {count} tips",
+        )
+
 
 def _reload_and_check_skip(
     new_config: PipetteConfigurations,