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fix(api): preserve last_moved in retract #14592

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Mar 4, 2024
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fix(api): preserve last_moved in retract #14592

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9 changes: 5 additions & 4 deletions api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1306,24 +1306,25 @@ async def _cache_and_maybe_retract_mount(self, mount: OT3Mount) -> None:
Disengage the 96-channel and gripper mount if retracted. Re-engage
the 96-channel or gripper mount if it is about to move.
"""
last_moved = self._last_moved_mount
if self.is_idle_mount(mount):
# home the left/gripper mount if it is current disengaged
await self.home_z(mount)

if mount != self._last_moved_mount and self._last_moved_mount:
await self.retract(self._last_moved_mount, 10)
if mount != last_moved and last_moved:
await self.retract(last_moved, 10)

# disengage Axis.Z_L motor and engage the brake to lower power
# consumption and reduce the chance of the 96-channel pipette dropping
if (
self.gantry_load == GantryLoad.HIGH_THROUGHPUT
and self._last_moved_mount == OT3Mount.LEFT
and last_moved == OT3Mount.LEFT
):
await self.disengage_axes([Axis.Z_L])

# disegnage Axis.Z_G when we can to reduce the chance of
# the gripper dropping
if self._last_moved_mount == OT3Mount.GRIPPER:
if last_moved == OT3Mount.GRIPPER:
await self.disengage_axes([Axis.Z_G])

if mount != OT3Mount.GRIPPER:
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