always home both axis

Opentrons · Oct 23, 2024 · fb6e5b1 · fb6e5b1
1 parent c9a57ad
commit fb6e5b1
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Showing 3 changed files with 5 additions and 18 deletions.
diff --git a/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx b/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx
@@ -29,7 +29,7 @@ import {
 import { RecoveryInProgress } from './RecoveryInProgress'
 import { getErrorKind } from './utils'
 import { RECOVERY_MAP } from './constants'
-import { useHomeGripperZAxis } from './hooks'
+import { useHomeGripper } from './hooks'
 
 import type { LabwareDefinition2, RobotType } from '@opentrons/shared-data'
 import type { RecoveryRoute, RouteStep, RecoveryContentProps } from './types'
@@ -90,7 +90,7 @@ export function ErrorRecoveryWizard(
     routeUpdateActions,
   })
 
-  useHomeGripperZAxis(props)
+  useHomeGripper(props)
 
   return <ErrorRecoveryComponent errorKind={errorKind} {...props} />
 }

diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts
@@ -14,7 +14,7 @@ import {
   RELEASE_GRIPPER_JAW,
   buildPickUpTips,
   buildIgnorePolicyRules,
-  HOME_GRIPPER_Z_AXIS,
+  HOME_GRIPPER,
 } from '../useRecoveryCommands'
 import { RECOVERY_MAP } from '../../constants'
 
@@ -271,10 +271,7 @@ describe('useRecoveryCommands', () => {
       await result.current.homeGripper()
     })
 
-    expect(mockChainRunCommands).toHaveBeenCalledWith(
-      [HOME_GRIPPER_Z_AXIS],
-      false
-    )
+    expect(mockChainRunCommands).toHaveBeenCalledWith([HOME_GRIPPER], false)
   })
 
   it('should call skipFailedCommand and show success toast on success', async () => {

diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts
@@ -270,11 +270,7 @@ export function useRecoveryCommands({
   }, [chainRunRecoveryCommands])
 
   const homeGripper = useCallback((): Promise<CommandData[]> => {
-    const gripperAxis =
-      failedCommandByRunRecord?.error?.errorCode === '2003'
-        ? HOME_GRIPPER
-        : HOME_GRIPPER_Z_AXIS
-    return chainRunRecoveryCommands([gripperAxis])
+    return chainRunRecoveryCommands([HOME_GRIPPER])
   }, [chainRunRecoveryCommands])
 
   const moveLabwareWithoutPause = useCallback((): Promise<CommandData[]> => {
@@ -314,12 +310,6 @@ export const RELEASE_GRIPPER_JAW: CreateCommand = {
   intent: 'fixit',
 }
 
-export const HOME_GRIPPER_Z_AXIS: CreateCommand = {
-  commandType: 'home',
-  params: { axes: ['extensionZ'] },
-  intent: 'fixit',
-}
-
 export const HOME_GRIPPER: CreateCommand = {
   commandType: 'home',
   params: { axes: ['extensionZ', 'extensionJaw'] },