fix(api): use motion lock when updating firmware #14431
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## edge #14431 +/- ##
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Coverage 68.14% 68.14%
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Files 2522 2522
Lines 72024 72024
Branches 9218 9218
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Hits 49078 49078
Misses 20757 20757
Partials 2189 2189
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ahiuchingau
deleted the
RABR-21-dvt-2-abr-5-96-ch-dropped-when-update-completed
branch
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Overview
The 96-channel pipette is reported to drop after a firmware update in testing. This is because while the update is happening, the pipette cannot respond to any other CAN requests. If the hardware controller probes the network at this time, it would not be able to detect the presence of the 96-channel pipette and mistakenly lower the Z-axis motor current required to hold the pipette in place.
This PR fixes this by making sure the update firmware call block other motion tasks until all firmware has been updated.