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fix(api): ensure the right mount is enabled for initial homing #14822

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merged 2 commits into from
Apr 10, 2024
Merged

fix(api): ensure the right mount is enabled for initial homing #14822

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45b8466
send enable command from Python for head_r
caila-marashaj Apr 5, 2024
8fc43b9
stray comment
caila-marashaj Apr 5, 2024
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8 changes: 7 additions & 1 deletion api/src/opentrons/hardware_control/ot3api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1521,8 +1521,14 @@ async def _home_axis(self, axis: Axis) -> None:
# G, Q should be handled in the backend through `self._home()`
assert axis not in [Axis.G, Axis.Q]

# TODO(CM): This is a temporary fix in response to the right mount causing
# errors while trying to home on startup or attachment. We should remove this
# when we fix this issue in the firmware.
enable_right_mount_on_startup = (
self._gantry_load == GantryLoad.HIGH_THROUGHPUT and axis == Axis.Z_R
)
encoder_ok = self._backend.check_encoder_status([axis])
if encoder_ok:
if encoder_ok or enable_right_mount_on_startup:
# enable motor (if needed) and update estimation
await self._enable_before_update_estimation(axis)

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