fixes to my changes

Opentrons · Jul 5, 2024 · 905249c · 905249c
1 parent a9525cc
commit 905249c
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Showing 4 changed files with 12 additions and 10 deletions.
diff --git a/api/src/opentrons/config/defaults_ot3.py b/api/src/opentrons/config/defaults_ot3.py
@@ -25,8 +25,8 @@
 DEFAULT_LIQUID_PROBE_SETTINGS: Final[LiquidProbeSettings] = LiquidProbeSettings(
     mount_speed=10,
     plunger_speed=5,
-    plunger_impulse_time=0.2
-    sensor_threshold_pascals=40,
+    plunger_impulse_time=0.2,
+    sensor_threshold_pascals=15,
     output_option=OutputOptions.sync_buffer_to_csv,
     aspirate_while_sensing=False,
     data_files={InstrumentProbeType.PRIMARY: "/data/pressure_sensor_data.csv"},

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -2625,7 +2625,9 @@ async def liquid_probe(
 
         probe_start_pos = await self.gantry_position(checked_mount, refresh=True)
 
-        p_travel = instrument.plunger_positions.bottom - instrument.plunger_positions.top
+        p_travel = (
+            instrument.plunger_positions.bottom - instrument.plunger_positions.top
+        )
         max_speeds = self.config.motion_settings.default_max_speed
         p_prep_speed = max_speeds[self.gantry_load][OT3AxisKind.P]
 
@@ -2637,7 +2639,7 @@ async def liquid_probe(
             # overlap amount we want to use between passes
             pass_start_pos = pos._replace(z=(pos.z - 0.5))
 
-            #Prep the plunger
+            # Prep the plunger
             await self.move_to(checked_mount, safe_plunger_pos)
             if probe_settings.aspirate_while_sensing:
                 await self._move_to_plunger_bottom(checked_mount, rate=p_prep_speed)

diff --git a/hardware/opentrons_hardware/hardware_control/tool_sensors.py b/hardware/opentrons_hardware/hardware_control/tool_sensors.py
@@ -425,12 +425,12 @@ async def liquid_probe(
         sensor_driver,
         True,
     )
-    p_prep_distance = float64(PLUNGER_SOLO_MOVE_TIME * plunger_speed)
-    p_pass_distance = float64(max_p_distance - p_prep_distance)
-    max_z_distance = (p_pass_distance / plunger_speed) * z_speed
+    p_prep_distance = float(PLUNGER_SOLO_MOVE_TIME * plunger_speed)
+    p_pass_distance = float(max_p_distance - p_prep_distance)
+    max_z_distance = (p_pass_distance / plunger_speed) * mount_speed
 
     lower_plunger = create_step(
-        distance={tool: p_prep_distance},
+        distance={tool: float64(p_prep_distance)},
         velocity={tool: float64(plunger_speed)},
         acceleration={},
         duration=float64(PLUNGER_SOLO_MOVE_TIME),

diff --git a/hardware/tests/opentrons_hardware/hardware_control/test_tool_sensors.py b/hardware/tests/opentrons_hardware/hardware_control/test_tool_sensors.py
@@ -214,7 +214,7 @@ def move_responder(
         messenger=mock_messenger,
         tool=target_node,
         head_node=motor_node,
-        max_z_distance=40,
+        max_p_distance=70,
         mount_speed=10,
         plunger_speed=8,
         threshold_pascals=threshold_pascals,
@@ -345,7 +345,7 @@ def move_responder(
             messenger=mock_messenger,
             tool=NodeId.pipette_left,
             head_node=NodeId.head_l,
-            max_z_distance=40,
+            max_p_distance=70,
             mount_speed=10,
             plunger_speed=8,
             threshold_pascals=14,