feat(hardware, api): check motor engaged status #14479
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## edge #14479 +/- ##
==========================================
- Coverage 67.50% 67.47% -0.03%
==========================================
Files 2514 2514
Lines 72375 72418 +43
Branches 9317 9317
==========================================
+ Hits 48856 48866 +10
- Misses 21314 21347 +33
Partials 2205 2205
Flags with carried forward coverage won't be shown. Click here to find out more.
|
sfoster1
requested changes
Feb 14, 2024
| Axis.Y: phony_bounds, | ||
| Axis.Z_G: phony_bounds, | ||
| Axis.Q: phony_bounds, | ||
| Axis.Z_L: (0, 300), |
There was a problem hiding this comment.
how close to reality are these bounds?
ahiuchingau
force-pushed
the
use_motor-status-request
branch
from
4abf7e0
to
8f47695
Compare
ahiuchingau
added a commit
that referenced
this pull request
Apr 18, 2024
<!-- Thanks for taking the time to open a pull request! Please make sure you've read the "Opening Pull Requests" section of our Contributing Guide: https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests To ensure your code is reviewed quickly and thoroughly, please fill out the sections below to the best of your ability! --> # Overview When #14479 was added, the motor enable message listener was never cleaned up properly and thus causing the robot to slow down significantly as it runs more and more move commands.
Carlos-fernandez
pushed a commit
that referenced
this pull request
May 20, 2024
<!-- Thanks for taking the time to open a pull request! Please make sure you've read the "Opening Pull Requests" section of our Contributing Guide: https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests To ensure your code is reviewed quickly and thoroughly, please fill out the sections below to the best of your ability! --> # Overview Up until now, the hardware controller doesn't actually know if a motor has been engaged. We've been assuming a motor has been disengaged by checking the stepper position status, which doesn't provide the full story and causes us to engage the motor when it's already enabled (while homing the 96-channel pipette mount). This PR enables the hardware controller to prompt for the motor enabled status and allows us to finally implement the `OT3controller.engaged_axes` method. This PR also updated the phony axis bound to values that are closer to reality; this prevents us from getting stuck in a extremely long homing move (like > 33 minutes) that never times out if a limit switch malfunctions.
Carlos-fernandez
pushed a commit
that referenced
this pull request
May 20, 2024
<!-- Thanks for taking the time to open a pull request! Please make sure you've read the "Opening Pull Requests" section of our Contributing Guide: https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests To ensure your code is reviewed quickly and thoroughly, please fill out the sections below to the best of your ability! --> # Overview When #14479 was added, the motor enable message listener was never cleaned up properly and thus causing the robot to slow down significantly as it runs more and more move commands.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Overview
Up until now, the hardware controller doesn't actually know if a motor has been engaged. We've been assuming a motor has been disengaged by checking the stepper position status, which doesn't provide the full story and causes us to engage the motor when it's already enabled (while homing the 96-channel pipette mount).
This PR enables the hardware controller to prompt for the motor enabled status and allows us to finally implement the
OT3controller.engaged_axesmethod.This PR also updated the phony axis bound to values that are closer to reality; this prevents us from getting stuck in a extremely long homing move (like > 33 minutes) that never times out if a limit switch malfunctions.