From 67d95d960f510199b55271c205ea00c864792c10 Mon Sep 17 00:00:00 2001 From: Ryan howard Date: Fri, 1 Nov 2024 11:28:30 -0400 Subject: [PATCH] make sure we protocect against going to fast on the 96 --- api/src/opentrons/hardware_control/ot3api.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py index 08bf782c26f..f0f0641cb31 100644 --- a/api/src/opentrons/hardware_control/ot3api.py +++ b/api/src/opentrons/hardware_control/ot3api.py @@ -2716,13 +2716,23 @@ async def liquid_probe( # noqa: C901 probe_settings = deepcopy(self.config.liquid_sense) # We need to significatly slow down the 96 channel liquid probe + max_mount_acceleration = self.config.motion_settings.acceleration[ + GantryLoad.LOW_THROUGHPUT + ][OT3AxisKind.Z] + if self.gantry_load == GantryLoad.HIGH_THROUGHPUT: max_plunger_speed = self.config.motion_settings.max_speed_discontinuity[ GantryLoad.HIGH_THROUGHPUT ][OT3AxisKind.P] + max_mount_acceleration = self.config.motion_settings.acceleration[ + GantryLoad.HIGH_THROUGHPUT + ][OT3AxisKind.Z] probe_settings.plunger_speed = min( max_plunger_speed, probe_settings.plunger_speed ) + probe_settings.mount_acceleration = min( + max_mount_acceleration, probe_settings.mount_acceleration + ) starting_position = await self.gantry_position(checked_mount, refresh=True)