Merge branch 'pick_up_tip_testing' into chore_release-7.2.0

api/src/opentrons/config/defaults_ot3.py

@@ -21,7 +21,6 @@
 DEFAULT_MODULE_OFFSET = [0.0, 0.0, 0.0]
 
 DEFAULT_LIQUID_PROBE_SETTINGS: Final[LiquidProbeSettings] = LiquidProbeSettings(
-    starting_mount_height=100,
     max_z_distance=40,
     min_z_distance=5,
     mount_speed=10,
@@ -277,9 +276,6 @@ def _build_default_liquid_probe(
     from_conf: Any, default: LiquidProbeSettings
 ) -> LiquidProbeSettings:
     return LiquidProbeSettings(
-        starting_mount_height=from_conf.get(
-            "starting_mount_height", default.starting_mount_height
-        ),
         max_z_distance=from_conf.get("max_z_distance", default.max_z_distance),
         min_z_distance=from_conf.get("min_z_distance", default.min_z_distance),
         mount_speed=from_conf.get("mount_speed", default.mount_speed),

api/src/opentrons/config/types.py

@@ -118,7 +118,6 @@ class ZSenseSettings:
 
 @dataclass
 class LiquidProbeSettings:
-    starting_mount_height: float
     max_z_distance: float
     min_z_distance: float
     mount_speed: float

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -994,6 +994,12 @@ async def get_limit_switches(self) -> OT3AxisMap[bool]:
     def _tip_motor_nodes(axis_current_keys: KeysView[Axis]) -> List[NodeId]:
         return [axis_to_node(Axis.Q)] if Axis.Q in axis_current_keys else []
 
+    async def get_tip_present_state(self, mount: OT3Mount) -> TipStateType:
+        res = await get_tip_ejector_state(
+            self._messenger, sensor_node_for_mount(OT3Mount(mount.value))  # type: ignore
+        )
+        return res
+
     async def set_default_currents(self) -> None:
         """Set both run and hold currents from robot config to each node."""
         assert self._current_settings, "Invalid current settings"

api/src/opentrons/hardware_control/ot3api.py

@@ -1196,6 +1196,7 @@ async def move_axes(  # noqa: C901
             await self.refresh_positions()
 
         for axis in position.keys():
+            print(axis)
             if not self._backend.axis_is_present(axis):
                 raise InvalidActuator(
                     message=f"{axis} is not present", detail={"axis": str(axis)}
@@ -2068,17 +2069,19 @@ async def verify_tip_presence(
 
     async def _force_pick_up_tip(
         self, mount: OT3Mount, pipette_spec: TipActionSpec
-    ) -> None:
+    ) -> Dict[Axis, float]:
         for press in pipette_spec.tip_action_moves:
             async with self._backend.motor_current(run_currents=press.currents):
                 target_down = target_position_from_relative(
                     mount, top_types.Point(z=press.distance), self._current_position
                 )
                 await self._move(target_down, speed=press.speed, expect_stalls=True)
+                press_dist = await self.encoder_current_position_ot3(mount)
             if press.distance < 0:
                 # we expect a stall has happened during a downward movement into the tiprack, so
                 # we want to update the motor estimation
                 await self._update_position_estimation([Axis.by_mount(mount)])
+        return press_dist
 
     async def _tip_motor_action(
         self, mount: OT3Mount, pipette_spec: List[TipActionMoveSpec]
@@ -2102,14 +2105,33 @@ async def _tip_motor_action(
             )
             await self.home_gear_motors()
 
+    async def _motor_pickup_move(
+        self, mount: OT3Mount, motor_current: Mapping[Axis, float],
+            move_distance: float, speed: float) -> None:
+        async with self._backend.restore_current():
+            await self._backend.set_active_current(
+                {axis: current for axis, current in motor_current.items()}
+            )
+            # perform pick up tip
+            await self._backend.tip_action(
+                [Axis.of_main_tool_actuator(mount)],
+                move_distance,
+                speed,
+                "clamp",
+            )
+
+    async def get_tip_presence(self, mount: Union[top_types.Mount, OT3Mount]):
+        state = await self._backend.get_tip_present_state(mount)
+        return state
+
     async def pick_up_tip(
         self,
         mount: Union[top_types.Mount, OT3Mount],
         tip_length: float,
         presses: Optional[int] = None,
         increment: Optional[float] = None,
         prep_after: bool = True,
-    ) -> None:
+    ) -> Dict[Axis, float]:
         """Pick up tip from current location."""
         realmount = OT3Mount.from_mount(mount)
         instrument = self._pipette_handler.get_pipette(realmount)
@@ -2139,7 +2161,7 @@ def add_tip_to_instr() -> None:
                 presses,
                 increment,
             )
-            await self._force_pick_up_tip(realmount, spec)
+            press_dist = await self._force_pick_up_tip(realmount, spec)
 
         # neighboring tips tend to get stuck in the space between
         # the volume chamber and the drop-tip sleeve on p1000.
@@ -2158,6 +2180,7 @@ def add_tip_to_instr() -> None:
 
         if prep_after:
             await self.prepare_for_aspirate(realmount)
+        return press_dist
 
     def set_current_tiprack_diameter(
         self, mount: Union[top_types.Mount, OT3Mount], tiprack_diameter: float

hardware-testing/hardware_testing/data/__init__.py

@@ -4,7 +4,7 @@
 from pathlib import Path
 from subprocess import check_output
 from time import time
-from typing import Tuple, Union, List, Any
+from typing import Tuple, Dict
 
 from opentrons.config import infer_config_base_dir, IS_ROBOT
 
@@ -19,14 +19,13 @@ def _build_git_description_string() -> str:
     if IS_ROBOT:
         raise RuntimeError("unable to run git describe on robot")
     raw_description = _git("describe")
-    raw_hash = _git("rev-parse", "--short", "HEAD")
     description_split = raw_description.split("-")
-    description = "_".join(description_split)
-    desc_with_hash = description + "-" + raw_hash
+    # separate everything but git hash with an underscore
+    description = "_".join(description_split[:-1]) + "-" + description_split[-1]
     mods = _git("ls-files", "-m").replace("\n", " ")
     if not mods:
-        return desc_with_hash
-    return f"{desc_with_hash}-[{mods}]"
+        return description
+    return f"{description}-[{mods}]"
 
 
 def get_git_description() -> str:
@@ -70,7 +69,7 @@ def create_test_name_from_file(f: str) -> str:
     return os.path.basename(f).replace("_", "-").replace(".py", "")
 
 
-def create_folder_for_test_data(test_name: Union[str, Path]) -> Path:
+def create_folder_for_test_data(test_name: str) -> Path:
     """Create a folder for test data."""
     base = _initialize_testing_data_base_dir()
     test_path = base / test_name
@@ -100,34 +99,28 @@ def create_file_name(
     return f"{test_name}_{run_id}_{tag}.{extension}"
 
 
-def _save_data(
-    test_name: str, run_id: str, file_name: str, data: str, perm: str = "w+"
-) -> Path:
+def _save_data(test_name: str, file_name: str, data: str, perm: str = "w+") -> Path:
     test_path = create_folder_for_test_data(test_name)
-    run_path = create_folder_for_test_data(test_path / run_id)
-    data_path = test_path / run_path / file_name
+    data_path = test_path / file_name
     with open(data_path, perm) as f:
         f.write(data)
     return data_path
 
 
-def dump_data_to_file(test_name: str, run_id: str, file_name: str, data: str) -> Path:
+def dump_data_to_file(test_name: str, file_name: str, data: str) -> Path:
     """Save entire file contents to a file on disk."""
-    return _save_data(test_name, run_id, file_name, data, perm="w+")
+    return _save_data(test_name, file_name, data, perm="w+")
 
 
-def append_data_to_file(test_name: str, run_id: str, file_name: str, data: str) -> Path:
+def append_data_to_file(test_name: str, file_name: str, data: str) -> Path:
     """Append new content to an already existing file on disk."""
-    return _save_data(test_name, run_id, file_name, data, perm="a+")
+    return _save_data(test_name, file_name, data, perm="a+")
 
 
-def insert_data_to_file(
-    test_name: str, run_id: str, file_name: str, data: str, line: int
-) -> None:
+def insert_data_to_file(test_name: str, file_name: str, data: str, line: int) -> None:
     """Insert new data at a specified line."""
     test_path = create_folder_for_test_data(test_name)
-    run_path = create_folder_for_test_data(test_path / run_id)
-    data_path = run_path / file_name
+    data_path = test_path / file_name
     # read data from file, insert line, then overwrite previous file
     with open(data_path, "r") as f:
         contents = f.readlines()
@@ -136,6 +129,35 @@ def insert_data_to_file(
         f.write("".join(contents))
 
 
-def convert_list_to_csv_line(elements: List[Any]) -> str:
-    """Convert list of something into CSV line."""
-    return ",".join(str(elements))
+def load_config_(filename: str) -> Dict:
+    """This function loads a given config file"""
+    dir = os.getcwd()
+    filename = r"{}\{}".format(dir, filename)
+    # print(filename)
+    try:
+        with open(filename, "r") as file:
+            data = json.load(file)
+    except FileNotFoundError:
+        print("Warning: {0} not found".format(filename))
+        data = {}
+    except json.decoder.JSONDecodeError:
+        print("Error: {0} is corrupt".format(filename))
+        data = {}
+    return data
+
+
+def save_config_(filename: str, data: str) -> Dict:
+    """This function saves a given config file with data"""
+    dir = os.getcwd()
+    filename = r"{}\{}".format(dir, filename)
+    # print(filename)
+    try:
+        with open(filename, "w") as file:
+            json.dump(data, file, sort_keys=False, indent=4, separators=(",", ": "))
+    except FileNotFoundError:
+        print("Warning: {0} not found".format(filename))
+        data = {}
+    except json.decoder.JSONDecodeError:
+        print("Error: {0} is corrupt".format(filename))
+        data = {}
+    return data

hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py

@@ -557,22 +557,42 @@ async def update_pick_up_current(
 ) -> None:
     """Update pick-up-tip current."""
     pipette = _get_pipette_from_mount(api, mount)
-    config_model = pipette.pick_up_configurations.press_fit
-    config_model.current_by_tip_count = {
-        k: current for k in config_model.current_by_tip_count.keys()
+    config_model = pipette.pick_up_configurations
+    print(f'config: {config_model}')
+    config_model.press_fit.current_by_tip_count = {
+        k: current for k in config_model.press_fit.current_by_tip_count.keys()
     }
-    pipette.pick_up_configurations.press_fit = config_model
+    pipette.pick_up_configurations = config_model
+
+async def update_drop_tip_current(
+    api: OT3API, mount: OT3Mount, current: float = 1.0
+) -> None:
+    """Update drop-tip current."""
+    pipette = _get_pipette_from_mount(api, mount)
+    config_model = pipette._drop_configurations
+    config_model.current = current
+    pipette._drop_configurations = config_model
 
 
 async def update_pick_up_distance(
     api: OT3API, mount: OT3Mount, distance: float = 17.0
 ) -> None:
     """Update pick-up-tip current."""
     pipette = _get_pipette_from_mount(api, mount)
-    config_model = pipette.pick_up_configurations.press_fit
+    # print(pipette.pick_up_configurations)
+    config_model = pipette.pick_up_configurations
+    print(config_model)
     config_model.distance = distance
-    pipette.pick_up_configurations.press_fit = config_model
+    pipette.pick_up_configurations = config_model
 
+async def update_pick_up_speed(
+    api: OT3API, mount: OT3Mount, speed: float = 5.0
+) -> None:
+    """Update pick-up-tip current."""
+    pipette = _get_pipette_from_mount(api, mount)
+    config_model = pipette.pick_up_configurations.press_fit
+    config_model.speed = speed
+    pipette.pick_up_configurations = config_model
 
 async def move_plunger_absolute_ot3(
     api: OT3API,

hardware-testing/hardware_testing/protocols/installation_qualification/flex_iq_p1000_multi_200ul.py

@@ -12,11 +12,11 @@
 requirements = {"robotType": "Flex", "apiLevel": "2.15"}
 
 ALLOW_TEST_PIPETTE_TO_TRANSFER_DILUENT = False
-RETURN_TIP = False
+RETURN_TIP = True
 DILUENT_WELLS = ["A11", "A12"]
 
 TEST_VOLUME = 200
-TEST_PUSH_OUT = 15
+TEST_PUSH_OUT = 20
 TEST_PIPETTE = "flex_8channel_1000"
 TEST_TIPS = "opentrons_flex_96_tiprack_200uL"
 TEST_SOURCES = [