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fix(api): made a mistake in math when i removed the isclose check #15913

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merged 1 commit into from
Aug 7, 2024
Merged

fix(api): made a mistake in math when i removed the isclose check #15913

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7 changes: 5 additions & 2 deletions api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2714,7 +2714,10 @@ async def liquid_probe(

error: Optional[PipetteLiquidNotFoundError] = None
pos = await self.gantry_position(checked_mount, refresh=True)
while (probe_start_pos.z - pos.z) < max_z_dist:
# probe_start_pos.z + z_distance of pass - pos.z should be < max_z_dist
# due to rounding errors this can get caught in an infinite loop when the distance is almost equal
# so we check to see if they're within 0.01 which is 1/5th the minimum movement distance from move_utils.py
while (probe_start_pos.z - pos.z) < (max_z_dist + 0.01):
# safe distance so we don't accidentally aspirate liquid if we're already close to liquid
safe_plunger_pos = top_types.Point(
pos.x, pos.y, pos.z + probe_safe_reset_mm
Expand All @@ -2724,7 +2727,7 @@ async def liquid_probe(
pos.x, pos.y, pos.z + probe_pass_z_offset_mm
)
max_z_time = (
max_z_dist - (probe_start_pos.z - safe_plunger_pos.z)
max_z_dist - probe_start_pos.z + pass_start_pos.z
) / probe_settings.mount_speed
p_travel_required_for_z = max_z_time * probe_settings.plunger_speed
p_pass_travel = min(p_travel_required_for_z, p_working_mm)
Expand Down
4 changes: 2 additions & 2 deletions api/tests/opentrons/hardware_control/test_ot3_api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -838,7 +838,7 @@ async def test_liquid_probe(
mock_move_to_plunger_bottom.call_count == 2
mock_liquid_probe.assert_called_once_with(
mount,
52,
46,
fake_settings_aspirate.mount_speed,
(fake_settings_aspirate.plunger_speed * -1),
fake_settings_aspirate.sensor_threshold_pascals,
Expand Down Expand Up @@ -990,7 +990,7 @@ async def _fake_pos_update_and_raise(
OT3Mount.LEFT, fake_max_z_dist, fake_settings_aspirate
)
# assert that it went through 4 passes and then prepared to aspirate
assert mock_move_to_plunger_bottom.call_count == 5
assert mock_move_to_plunger_bottom.call_count == 4


@pytest.mark.parametrize(
Expand Down
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