feat(api): add z_overlap_between_passes_mm to LiquidProbeSettings (#1…

…6055)

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# Overview

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PR fits into other work. Link issues, PRs, and other relevant resources.
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This PR adds the z_overlap_between_passes_mm field to
LiquidProbeSettings, with the default and universal value of 0.1mm.

## Test Plan and Hands on Testing

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api/src/opentrons/config/defaults_ot3.py

@@ -29,6 +29,7 @@
     sensor_threshold_pascals=15,
     output_option=OutputOptions.sync_buffer_to_csv,
     aspirate_while_sensing=False,
+    z_overlap_between_passes_mm=0.1,
     data_files={InstrumentProbeType.PRIMARY: "/data/pressure_sensor_data.csv"},
 )
 
@@ -343,6 +344,9 @@ def _build_default_liquid_probe(
         aspirate_while_sensing=from_conf.get(
             "aspirate_while_sensing", default.aspirate_while_sensing
         ),
+        z_overlap_between_passes_mm=from_conf.get(
+            "z_overlap_between_passes_mm", default.z_overlap_between_passes_mm
+        ),
         data_files=data_files,
     )
 

api/src/opentrons/config/types.py

@@ -137,6 +137,7 @@ class LiquidProbeSettings:
     sensor_threshold_pascals: float
     output_option: OutputOptions
     aspirate_while_sensing: bool
+    z_overlap_between_passes_mm: float
     data_files: Optional[Dict[InstrumentProbeType, str]]
 
 

api/src/opentrons/hardware_control/ot3api.py

@@ -2707,12 +2707,12 @@ async def liquid_probe(
             instrument.backlash_distance + sensor_baseline_plunger_move_mm
         )
         # height where probe action will begin
-        # TODO: (sigler) add this to pipette's liquid def (per tip)
-        z_overlap_between_passes_mm = 0.1
         sensor_baseline_z_move_mm = OT3API.liquid_probe_non_responsive_z_distance(
             probe_settings.mount_speed
         )
-        z_offset_per_pass = sensor_baseline_z_move_mm + z_overlap_between_passes_mm
+        z_offset_per_pass = (
+            sensor_baseline_z_move_mm + probe_settings.z_overlap_between_passes_mm
+        )
 
         # height that is considered safe to reset the plunger without disturbing liquid
         # this usually needs to at least 1-2mm from liquid, to avoid splashes from air

api/tests/opentrons/config/ot3_settings.py

@@ -124,6 +124,7 @@
         "sensor_threshold_pascals": 17,
         "output_option": OutputOptions.stream_to_csv,
         "aspirate_while_sensing": False,
+        "z_overlap_between_passes_mm": 0.1,
         "data_files": {"PRIMARY": "/data/pressure_sensor_data.csv"},
     },
     "calibration": {

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -182,6 +182,7 @@ def fake_liquid_settings() -> LiquidProbeSettings:
         sensor_threshold_pascals=15,
         output_option=OutputOptions.can_bus_only,
         aspirate_while_sensing=False,
+        z_overlap_between_passes_mm=0.1,
         data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
     )
 

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -122,6 +122,7 @@ def fake_liquid_settings() -> LiquidProbeSettings:
         sensor_threshold_pascals=15,
         output_option=OutputOptions.can_bus_only,
         aspirate_while_sensing=False,
+        z_overlap_between_passes_mm=0.1,
         data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
     )
 
@@ -825,6 +826,7 @@ async def test_liquid_probe(
             sensor_threshold_pascals=15,
             output_option=OutputOptions.can_bus_only,
             aspirate_while_sensing=True,
+            z_overlap_between_passes_mm=0.1,
             data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
         )
         fake_max_z_dist = 10.0
@@ -905,7 +907,7 @@ async def test_liquid_probe_plunger_moves(
             mount_speed
         )
 
-        probe_pass_overlap = 0.1
+        probe_pass_overlap = config.z_overlap_between_passes_mm
         probe_pass_z_offset_mm = non_responsive_z_mm + probe_pass_overlap
         probe_safe_reset_mm = max(2.0, probe_pass_z_offset_mm)
 
@@ -999,7 +1001,7 @@ async def test_liquid_probe_mount_moves(
             mount_speed
         )
 
-        probe_pass_overlap = 0.1
+        probe_pass_overlap = config.z_overlap_between_passes_mm
         probe_pass_z_offset_mm = non_responsive_z_mm + probe_pass_overlap
         probe_safe_reset_mm = max(2.0, probe_pass_z_offset_mm)
 
@@ -1068,6 +1070,7 @@ async def test_multi_liquid_probe(
             sensor_threshold_pascals=15,
             output_option=OutputOptions.can_bus_only,
             aspirate_while_sensing=True,
+            z_overlap_between_passes_mm=0.1,
             data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
         )
         fake_max_z_dist = 10.0
@@ -1140,6 +1143,7 @@ async def _fake_pos_update_and_raise(
         sensor_threshold_pascals=15,
         output_option=OutputOptions.can_bus_only,
         aspirate_while_sensing=True,
+        z_overlap_between_passes_mm=0.1,
         data_files={InstrumentProbeType.PRIMARY: "fake_file_name"},
     )
     # with a mount speed of 5, pass overlap of 0.5 and a 0.2s delay on z

hardware-testing/hardware_testing/gravimetric/config.py

@@ -172,6 +172,7 @@ def _get_liquid_probe_settings(
         sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
         output_option=OutputOptions.sync_only,
         aspirate_while_sensing=False,
+        z_overlap_between_passes_mm=0.1,
         data_files={InstrumentProbeType.PRIMARY: "/data/testing_data/pressure.csv"},
     )
 

hardware-testing/hardware_testing/liquid_sense/execute.py

@@ -447,6 +447,7 @@ def _run_trial(
         sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
         output_option=OutputOptions.sync_buffer_to_csv,
         aspirate_while_sensing=run_args.aspirate,
+        z_overlap_between_passes_mm=0.1,
         data_files=data_files,
     )
 

hardware-testing/hardware_testing/production_qc/pipette_assembly_qc_ot3/__main__.py

@@ -1380,6 +1380,7 @@ async def _test_liquid_probe(
                 sensor_threshold_pascals=probe_cfg.sensor_threshold_pascals,
                 output_option=OutputOptions.can_bus_only,  # FIXME: remove
                 aspirate_while_sensing=False,
+                z_overlap_between_passes_mm=0.1,
                 data_files=None,
             )
             end_z = await api.liquid_probe(