add logging and fix Q axis

Opentrons · Oct 8, 2024 · 3cfd6ac · 3cfd6ac
1 parent 720290a
commit 3cfd6ac
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -652,10 +652,11 @@ async def move(
 
         if possible_q_axis_origin and possible_q_axis_target:
             tip_motor_move_group = self._build_tip_action_group(
-                possible_q_axis_origin, [(possible_q_axis_origin, speed)]
+                possible_q_axis_origin, [(possible_q_axis_target, speed)]
             )
 
         move_target = MoveTarget.build(position=target, max_speed=speed)
+        log.info(f"The origin: {origin} and {target} position at speed: {speed}")
         try:
             _, movelist = self._move_manager.plan_motion(
                 origin=origin, target_list=[move_target]
@@ -677,6 +678,7 @@ async def move(
             origin, moves, ordered_nodes, MoveStopCondition[stop_condition.name]
         )
         move_group, _ = group
+        log.info(f"The move group is {move_group} and the tip motor move group is {tip_motor_move_group}")
         runner = MoveGroupRunner(
             move_groups=[move_group, tip_motor_move_group],
             ignore_stalls=True

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -1227,7 +1227,9 @@ async def move_axes(  # noqa: C901
                     message=f"{axis} is not present", detail={"axis": str(axis)}
                 )
 
+        self._log.info(f"Attempting to move {position} with speed {speed}.")
         if not self._backend.check_encoder_status(list(position.keys())):
+            self._log.info("Calling home in move_axes")
             await self.home()
         self._assert_motor_ok(list(position.keys()))