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partial tip update test script
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@Carlos-fernandez
Carlos-fernandez committed Feb 29, 2024
1 parent fb7ddc5 commit 842ac6f
Showing 1 changed file with 78 additions and 74 deletions.
152 changes: 78 additions & 74 deletions hardware-testing/hardware_testing/scripts/96_channel_partial_pickup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
home_ot3,
move_plunger_absolute_ot3,
get_plunger_positions_ot3,
update_pick_up_current,
# update_pick_up_current,
update_pick_up_speed,
update_pick_up_distance,
# update_drop_tip_speed,
Expand Down Expand Up @@ -264,7 +264,6 @@ def save_config_(filename: str, data: str) -> Dict:

async def calibrate_tiprack(api, home_position, mount):
cp = CriticalPoint.NOZZLE

tiprack_loc = Point(
deck_slot['deck_slot'][args.tiprack_slot]['X'],
deck_slot['deck_slot'][args.tiprack_slot]['Y'],
Expand All @@ -278,9 +277,7 @@ async def calibrate_tiprack(api, home_position, mount):
tiprack_loc[Axis.Y],
tiprack_loc[Axis.by_mount(mount)])
await api.pick_up_tip(
mount, tip_length=tip_length[args.tip_size],
presses = 1,
increment = 0)
mount, tip_length=tip_length[args.tip_size])
await api.home([Axis.Z_L])
cp = CriticalPoint.TIP
await asyncio.sleep(1)
Expand All @@ -304,6 +301,11 @@ async def update_nozzle_manager(api, mount, tip_count):
elif args.nozzles == 12:
await api.update_nozzle_configuration_for_mount(OT3Mount.LEFT, 'A1', 'A12')

async def update_pick_up_current(api, mount, tip_count, current) -> None:
"""Update pick-up-tip current."""
pipette = _get_pipette_from_mount(api, mount)
pipette.get_pick_up_configuration_for_tip_count(tip_count).current_by_tip_count.update({tip_count: current})

async def _main() -> None:
today = datetime.date.today()
hw_api = await build_async_ot3_hardware_api(
Expand All @@ -312,14 +314,13 @@ async def _main() -> None:
await asyncio.sleep(1)
await hw_api.cache_instruments()
pipette_model = hw_api.get_all_attached_instr()[OT3Mount.LEFT]["pipette_id"]
dial_data = {"Column_1": None, "Column_2": None, "Column_3": None,
"Column_4": None, "Column_5": None, "Column_6": None,
"Column_7": None, "Column_8": None, "Column_9": None,
"Column_10": None, "Column_11": None, "Column_12": None}
dial_data = {}
for noz in range(1, args.nozzles+1):
dial_data.update({f'Tip_{noz}': None})
print(f'Dictionary: {dial_data}')
m_current = float(input("motor_current in amps: "))
await update_nozzle_manager(hw_api, OT3Mount.LEFT, args.nozzles)
instrument = hw_api._pipette_handler.get_pipette(OT3Mount.LEFT)
# pick_up_speed = float(input("pick up tip speed in mm/s: "))
await update_nozzle_manager(hw_api, OT3Mount.LEFT, args.nozzles)
details = [pipette_model, m_current]
test_n, test_f = file_setup(dial_data, details)
file_name = "/home/root/.opentrons/testing_data/pickup_tip_test/pu_96_pipette_%s-%s.csv" % (
Expand Down Expand Up @@ -354,57 +355,57 @@ async def _main() -> None:
home_position = await hw_api.current_position_ot3(mount)
start_time = time.perf_counter()
m_current = float(input("motor_current in amps: "))
pick_up_speed = float(input("pick up tip speed in mm/s: "))
hw_api.clamp_tip_speed = float(input("clamp pick up Speed: "))
pick_up_distance = float(input("pick up distance in mm: "))
await update_pick_up_current(hw_api, mount, m_current)
await update_pick_up_speed(hw_api, mount, pick_up_speed)
await update_pick_up_distance(hw_api, mount, pick_up_distance)
# if (args.calibrate):
# cp = CriticalPoint.NOZZLE
# home_w_tip = await hw_api.current_position_ot3(mount, cp)
# initial_dial_loc = Point(
# deck_slot['deck_slot'][args.dial_slot]['X'],
# deck_slot['deck_slot'][args.dial_slot]['Y'],
# home_w_tip[Axis.by_mount(mount)]
# )
# print("Move Nozzle to Dial Indicator")
# await move_to_point(hw_api, mount, initial_dial_loc, cp)
# current_position = await hw_api.current_position_ot3(mount, cp)
# nozzle_loc = await jog(hw_api, current_position, cp)
# number_of_channels = 96
# nozzle_count = 0
# x_offset = 0
# y_offset = 0
# measurements = []
# num_of_columns = 12
# for tip in range(1, number_of_channels + 1):
# cp = CriticalPoint.NOZZLE
# nozzle_count += 1
# nozzle_position = Point(nozzle_loc[Axis.X] + x_offset,
# nozzle_loc[Axis.Y] + y_offset,
# nozzle_loc[Axis.by_mount(mount)])
# await move_to_point(hw_api, mount, nozzle_position, cp)
# await asyncio.sleep(1)
# nozzle_measurement = gauge.read()
# print("nozzle-",nozzle_count, "(mm): " , nozzle_measurement, end="")
# print("\r", end="")
# measurements.append(nozzle_measurement)
# if nozzle_count % num_of_columns == 0:
# d_str = ''
# for m in measurements:
# d_str += str(m) + ','
# d_str = d_str[:-1] + '\n'
# print(f"{d_str}")
# data.append_data_to_file(test_n, test_f, d_str)
# # Reset Measurements list
# measurements = []
# print("\r\n")
# x_offset -= 9
# if nozzle_count % num_of_columns == 0:
# y_offset += 9
# if nozzle_count % num_of_columns == 0:
# x_offset = 0
# pick_up_speed = float(input("pick up tip speed in mm/s: "))
# hw_api.clamp_tip_speed = float(input("clamp pick up Speed: "))
# pick_up_distance = float(input("pick up distance in mm: "))
await update_pick_up_current(hw_api, mount, args.nozzles, m_current)
# await update_pick_up_speed(hw_api, mount, pick_up_speed)
# await update_pick_up_distance(hw_api, mount, pick_up_distance)
if (args.measure_nozzles):
cp = CriticalPoint.NOZZLE
home_w_tip = await hw_api.current_position_ot3(mount, cp)
initial_dial_loc = Point(
deck_slot['deck_slot'][args.dial_slot]['X'],
deck_slot['deck_slot'][args.dial_slot]['Y'],
home_w_tip[Axis.by_mount(mount)]
)
print("Move Nozzle to Dial Indicator")
await move_to_point(hw_api, mount, initial_dial_loc, cp)
current_position = await hw_api.current_position_ot3(mount, cp)
nozzle_loc = await jog(hw_api, current_position, cp)
number_of_channels = 96
nozzle_count = 0
x_offset = 0
y_offset = 0
measurements = []
num_of_columns = 12
for tip in range(1, number_of_channels + 1):
cp = CriticalPoint.NOZZLE
nozzle_count += 1
nozzle_position = Point(nozzle_loc[Axis.X] + x_offset,
nozzle_loc[Axis.Y] + y_offset,
nozzle_loc[Axis.by_mount(mount)])
await move_to_point(hw_api, mount, nozzle_position, cp)
await asyncio.sleep(1)
nozzle_measurement = gauge.read()
print("nozzle-",nozzle_count, "(mm): " , nozzle_measurement, end="")
print("\r", end="")
measurements.append(nozzle_measurement)
if nozzle_count % num_of_columns == 0:
d_str = ''
for m in measurements:
d_str += str(m) + ','
d_str = d_str[:-1] + '\n'
print(f"{d_str}")
data.append_data_to_file(test_n, test_f, d_str)
# Reset Measurements list
measurements = []
print("\r\n")
x_offset -= 9
if nozzle_count % num_of_columns == 0:
y_offset += 9
if nozzle_count % num_of_columns == 0:
x_offset = 0
# Calibrate to tiprack
if (args.calibrate):
pickup_loc, droptip_loc = await calibrate_tiprack(hw_api, home_position, mount)
Expand Down Expand Up @@ -452,9 +453,10 @@ async def _main() -> None:
deck_slot['deck_slot'][args.trough_slot]['Z'] = dial_loc.z
save_config_(path+cal_fn, deck_slot)

num_of_columns = int(input("How many Columns: "))
num_of_rows = int(input("Number of Rows: "))
tips_to_use = (num_of_rows * num_of_columns)
# num_of_columns = int(input("How many Columns: "))
# num_of_rows = int(input("Number of Rows: "))
# tips_to_use = (num_of_rows * num_of_columns)
tips_to_use = args.nozzles
# tips_to_use = (num_of_columns * 8)
while True:
measurements = []
Expand Down Expand Up @@ -510,17 +512,18 @@ async def _main() -> None:
await hw_api.home_z(mount)

m_current = float(input("motor_current in amps: "))
pick_up_speed = float(input("prep pick up tip speed in mm/s: "))
# pick_up_speed = float(input("prep pick up tip speed in mm/s: "))
# Pick up distance i originally used was 16.5
pick_up_distance = float(input("pick up distance in mm: "))
hw_api.clamp_tip_speed = float(input("clamp pick up Speed: "))
num_of_columns = int(input("How many Columns: "))
num_of_rows = int(input("Number of Rows: "))
tips_to_use = (num_of_rows * num_of_columns)
# pick_up_distance = float(input("pick up distance in mm: "))
# hw_api.clamp_tip_speed = float(input("clamp pick up Speed: "))
# num_of_columns = int(input("How many Columns: "))
# num_of_rows = int(input("Number of Rows: "))
# tips_to_use = (num_of_rows * num_of_columns)
tips_to_use = args.nozzles
# tips_to_use = num_of_columns * 8
await update_pick_up_current(hw_api, mount, m_current)
await update_pick_up_speed(hw_api, mount, pick_up_speed)
await update_pick_up_distance(hw_api, mount, pick_up_distance)
await update_pick_up_current(hw_api, mount, args.nozzles, m_current)
# await update_pick_up_speed(hw_api, mount, pick_up_speed)
# await update_pick_up_distance(hw_api, mount, pick_up_distance)
cp = CriticalPoint.NOZZLE
if args.columns:
column = float(input("How many Columns to Move: "))
Expand Down Expand Up @@ -577,6 +580,7 @@ async def _main() -> None:
parser.add_argument("--trough_slot", type=str, choices=slot_locs, default="B3")
parser.add_argument("--dial_indicator", action="store_true")
parser.add_argument("--calibrate", action="store_true")
parser.add_argument("--measure_nozzles", action="store_true")
parser.add_argument("--columns", action="store_true")
parser.add_argument("--tip_size", type=str, default="T1K", help="Tip Size")
parser.add_argument("--max_z_distance", type=float, default=40)
Expand Down

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