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fix(api): only send moves to moving axes, unless specified otherwise #13933

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merged 2 commits into from
Nov 7, 2023
Merged

fix(api): only send moves to moving axes, unless specified otherwise #13933

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c99d1bb
only send moves to commanded nodes
ahiuchingau Nov 6, 2023
b72e6ad
format
ahiuchingau Nov 7, 2023
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16 changes: 15 additions & 1 deletion api/src/opentrons/hardware_control/backends/ot3controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -535,18 +535,32 @@ async def move(
origin: Coordinates[Axis, float],
moves: List[Move[Axis]],
stop_condition: MoveStopCondition = MoveStopCondition.none,
nodes_in_moves_only: bool = True,
) -> None:
"""Move to a position.

Args:
origin: The starting point of the move
moves: List of moves.
stop_condition: The stop condition.
nodes_in_moves_only: Default is True. If False, also send empty moves to
nodes that are present but not defined in moves.

.. caution::
Setting `nodes_in_moves_only` to False will enable *all* present motors in
the system. DO NOT USE when you want to keep one of the axes disabled.

Returns:
None
"""
group = create_move_group(origin, moves, self._motor_nodes(), stop_condition)
ordered_nodes = self._motor_nodes()
if nodes_in_moves_only:
moving_axes = {
axis_to_node(ax) for move in moves for ax in move.unit_vector.keys()
}
ordered_nodes = ordered_nodes.intersection(moving_axes)

group = create_move_group(origin, moves, ordered_nodes, stop_condition)
move_group, _ = group
runner = MoveGroupRunner(
move_groups=[move_group],
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