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feat(api, shared-data): make speed & distance pickUpTipConfigurations values keyed by tip count #14458

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merged 6 commits into from
Feb 13, 2024
Merged

feat(api, shared-data): make speed & distance pickUpTipConfigurations values keyed by tip count #14458

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7168c43
pickUpTipConfigurations' speed and distance are now objects keyed by …
sanni-t Feb 8, 2024
d4c2189
update to speedByTipCount and distanceByTipCount in all pipette defs
sanni-t Feb 8, 2024
16a569a
update schema v1 build script, other missed updates
sanni-t Feb 8, 2024
5f84fce
updated mutable configs test
sanni-t Feb 12, 2024
16d0788
fixed default mutable configs fetching
sanni-t Feb 12, 2024
cec63f9
update helpers_ot3
sanni-t Feb 12, 2024
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25 changes: 12 additions & 13 deletions api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -771,7 +771,7 @@ def plan_check_pick_up_tip( # type: ignore[no-untyped-def]
if instrument.has_tip:
raise UnexpectedTipAttachError("pick_up_tip", instrument.name, mount.name)
self._ihp_log.debug(f"Picking up tip on {mount.name}")

tip_count = instrument.nozzle_manager.current_configuration.tip_count
if presses is None or presses < 0:
checked_presses = instrument.pick_up_configurations.press_fit.presses
else:
Expand All @@ -782,17 +782,20 @@ def plan_check_pick_up_tip( # type: ignore[no-untyped-def]
else:
check_incr = increment

pick_up_speed = instrument.pick_up_configurations.press_fit.speed
pick_up_speed = instrument.pick_up_configurations.press_fit.speed_by_tip_count[
tip_count
]
pick_up_distance = (
instrument.pick_up_configurations.press_fit.distance_by_tip_count[tip_count]
)

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.press_fit.distance
+ -1.0 * check_incr * i
)

press_dist = -1.0 * pick_up_distance + -1.0 * check_incr * i
# move nozzle back up
backup_dist = -press_dist
yield (press_dist, backup_dist)
Expand All @@ -814,7 +817,7 @@ def add_tip_to_instr() -> None:
Axis.by_mount(
mount
): instrument.pick_up_configurations.press_fit.current_by_tip_count[
instrument.nozzle_manager.current_configuration.tip_count
tip_count
]
},
speed=pick_up_speed,
Expand All @@ -824,9 +827,7 @@ 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.press_fit.distance
+ check_incr * checked_presses
+ 2,
retract_target=pick_up_distance + check_incr * checked_presses + 2,
),
add_tip_to_instr,
)
Expand Down Expand Up @@ -855,9 +856,7 @@ 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.press_fit.distance
+ check_incr * checked_presses
+ 2,
retract_target=pick_up_distance + check_incr * checked_presses + 2,
),
add_tip_to_instr,
)
Expand Down
12 changes: 11 additions & 1 deletion api/src/opentrons/hardware_control/instruments/ot3/pipette.py
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Original file line number Diff line number Diff line change
Expand Up @@ -667,8 +667,18 @@ def get_pick_up_configuration_for_tip_count(
):
if not config:
continue
if count in config.current_by_tip_count:

if isinstance(config, PressFitPickUpTipConfiguration) and all(
[
config.speed_by_tip_count.get(count),
config.distance_by_tip_count.get(count),
config.current_by_tip_count.get(count),
]
):
return config
elif config.current_by_tip_count.get(count) is not None:
return config

raise CommandPreconditionViolated(
message=f"No pick up tip configuration for {count} tips",
)
Expand Down
7 changes: 5 additions & 2 deletions api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -794,15 +794,18 @@ def plan_lt_pick_up_tip(
else:
check_incr = increment

pick_up_speed = pick_up_config.speed
pick_up_speed = pick_up_config.speed_by_tip_count[tip_count]

def build_presses() -> List[TipActionMoveSpec]:
# Press the nozzle into the tip <presses> number of times,
# moving further by <increment> mm after each press
press_moves = []
for i in range(checked_presses):
# move nozzle down into the tip
press_dist = -1.0 * pick_up_config.distance + -1.0 * check_incr * i
press_dist = (
-1.0 * pick_up_config.distance_by_tip_count[tip_count]
+ -1.0 * check_incr * i
)
press_moves.append(
TipActionMoveSpec(
distance=press_dist,
Expand Down
12 changes: 8 additions & 4 deletions api/tests/opentrons/hardware_control/test_pipette_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -114,9 +114,13 @@ def test_plan_check_pick_up_tip_with_presses_argument(
decoy.when(mock_pipette.pick_up_configurations.press_fit.presses).then_return(
expected_array_length
)
decoy.when(mock_pipette.pick_up_configurations.press_fit.distance).then_return(5)
decoy.when(
mock_pipette.pick_up_configurations.press_fit.distance_by_tip_count
).then_return({1: 5})
decoy.when(mock_pipette.pick_up_configurations.press_fit.increment).then_return(0)
decoy.when(mock_pipette.pick_up_configurations.press_fit.speed).then_return(10)
decoy.when(
mock_pipette.pick_up_configurations.press_fit.speed_by_tip_count
).then_return({1: 10})
decoy.when(mock_pipette.config.end_tip_action_retract_distance_mm).then_return(0)
decoy.when(
mock_pipette.pick_up_configurations.press_fit.current_by_tip_count
Expand Down Expand Up @@ -171,8 +175,8 @@ def test_plan_check_pick_up_tip_with_presses_argument_ot3(
else PressFitPickUpTipConfiguration(
presses=2,
increment=increment,
distance=10,
speed=5.5,
distanceByTipCount={channels: 10},
speedByTipCount={channels: 5.5},
currentByTipCount={channels: 1.0},
)
)
Expand Down
6 changes: 4 additions & 2 deletions hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -567,10 +567,12 @@ async def update_pick_up_current(
async def update_pick_up_distance(
api: OT3API, mount: OT3Mount, distance: float = 17.0
) -> None:
"""Update pick-up-tip current."""
"""Update pick-up-tip distance."""
pipette = _get_pipette_from_mount(api, mount)
config_model = pipette.pick_up_configurations.press_fit
config_model.distance = distance
config_model.distance_by_tip_count = {
k: distance for k in config_model.distance_by_tip_count.keys()
}
pipette.pick_up_configurations.press_fit = config_model


Expand Down
22 changes: 20 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,28 @@
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"pressFit": {
"speed": 30.0,
"speedByTipCount": {
"1": 30.0,
"2": 30.0,
"3": 30.0,
"4": 30.0,
"5": 30.0,
"6": 30.0,
"7": 30.0,
"8": 30.0
},
"presses": 3,
"increment": 1.0,
"distance": 10.0,
"distanceByTipCount": {
"1": 10.0,
"2": 10.0,
"3": 10.0,
"4": 10.0,
"5": 10.0,
"6": 10.0,
"7": 10.0,
"8": 10.0
},
"currentByTipCount": {
"1": 0.1,
"2": 0.1,
Expand Down
22 changes: 20 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,28 @@
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"pressFit": {
"speed": 30.0,
"speedByTipCount": {
"1": 30.0,
"2": 30.0,
"3": 30.0,
"4": 30.0,
"5": 30.0,
"6": 30.0,
"7": 30.0,
"8": 30.0
},
"presses": 3,
"increment": 1.0,
"distance": 10.0,
"distanceByTipCount": {
"1": 10.0,
"2": 10.0,
"3": 10.0,
"4": 10.0,
"5": 10.0,
"6": 10.0,
"7": 10.0,
"8": 10.0
},
"currentByTipCount": {
"1": 0.1,
"2": 0.1,
Expand Down
22 changes: 20 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,28 @@
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"pressFit": {
"speed": 30.0,
"speedByTipCount": {
"1": 30.0,
"2": 30.0,
"3": 30.0,
"4": 30.0,
"5": 30.0,
"6": 30.0,
"7": 30.0,
"8": 30.0
},
"presses": 3,
"increment": 1.0,
"distance": 10.0,
"distanceByTipCount": {
"1": 10.0,
"2": 10.0,
"3": 10.0,
"4": 10.0,
"5": 10.0,
"6": 10.0,
"7": 10.0,
"8": 10.0
},
"currentByTipCount": {
"1": 0.1,
"2": 0.1,
Expand Down
22 changes: 20 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,28 @@
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"pressFit": {
"speed": 30.0,
"speedByTipCount": {
"1": 30.0,
"2": 30.0,
"3": 30.0,
"4": 30.0,
"5": 30.0,
"6": 30.0,
"7": 30.0,
"8": 30.0
},
"presses": 3,
"increment": 3.0,
"distance": 10.0,
"distanceByTipCount": {
"1": 10.0,
"2": 10.0,
"3": 10.0,
"4": 10.0,
"5": 10.0,
"6": 10.0,
"7": 10.0,
"8": 10.0
},
"currentByTipCount": {
"1": 0.1,
"2": 0.14,
Expand Down
22 changes: 20 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,28 @@
"displayCategory": "GEN1",
"pickUpTipConfigurations": {
"pressFit": {
"speed": 30.0,
"speedByTipCount": {
"1": 30.0,
"2": 30.0,
"3": 30.0,
"4": 30.0,
"5": 30.0,
"6": 30.0,
"7": 30.0,
"8": 30.0
},
"presses": 3,
"increment": 3.0,
"distance": 10.0,
"distanceByTipCount": {
"1": 10.0,
"2": 10.0,
"3": 10.0,
"4": 10.0,
"5": 10.0,
"6": 10.0,
"7": 10.0,
"8": 10.0
},
"currentByTipCount": {
"1": 0.1,
"2": 0.14,
Expand Down
22 changes: 20 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,27 @@
"pickUpTipConfigurations": {
"pressFit": {
"presses": 1,
"speed": 10,
"speedByTipCount": {
"1": 10.0,
"2": 10.0,
"3": 10.0,
"4": 10.0,
"5": 10.0,
"6": 10.0,
"7": 10.0,
"8": 10.0
},
"increment": 0.0,
"distance": 13.0,
"distanceByTipCount": {
"1": 13.0,
"2": 13.0,
"3": 13.0,
"4": 13.0,
"5": 13.0,
"6": 13.0,
"7": 13.0,
"8": 13.0
},
"currentByTipCount": {
"1": 0.15,
"2": 0.13,
Expand Down
22 changes: 20 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,27 @@
"pickUpTipConfigurations": {
"pressFit": {
"presses": 1,
"speed": 10,
"speedByTipCount": {
"1": 10.0,
"2": 10.0,
"3": 10.0,
"4": 10.0,
"5": 10.0,
"6": 10.0,
"7": 10.0,
"8": 10.0
},
"increment": 0.0,
"distance": 13.0,
"distanceByTipCount": {
"1": 13.0,
"2": 13.0,
"3": 13.0,
"4": 13.0,
"5": 13.0,
"6": 13.0,
"7": 13.0,
"8": 13.0
},
"currentByTipCount": {
"1": 0.15,
"2": 0.13,
Expand Down
22 changes: 20 additions & 2 deletions shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,27 @@
"pickUpTipConfigurations": {
"pressFit": {
"presses": 1,
"speed": 10,
"speedByTipCount": {
"1": 10.0,
"2": 10.0,
"3": 10.0,
"4": 10.0,
"5": 10.0,
"6": 10.0,
"7": 10.0,
"8": 10.0
},
"increment": 0.0,
"distance": 13.0,
"distanceByTipCount": {
"1": 13.0,
"2": 13.0,
"3": 13.0,
"4": 13.0,
"5": 13.0,
"6": 13.0,
"7": 13.0,
"8": 13.0
},
"currentByTipCount": {
"1": 0.15,
"2": 0.13,
Expand Down
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