feat(hardware-testing): Configurable plunger acceleration per liquid-…

…class (#13038)
Opentrons · Jul 11, 2023 · bc32ab3 · bc32ab3
1 parent 40d81f2
commit bc32ab3
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Showing 7 changed files with 625 additions and 594 deletions.
diff --git a/hardware-testing/Makefile b/hardware-testing/Makefile
@@ -223,12 +223,8 @@ cleanup"
 endef
 
 .PHONY: sync-sw-ot3
-sync-sw-ot3:
-	cd ../hardware && $(MAKE) push-ot3 host=$(host)
-	cd ../api && $(MAKE) push-ot3 host=$(host)
-	cd ../shared-data && $(MAKE) all push-ot3 host=$(host)
-	cd ../robot-server && $(MAKE) push-ot3 host=$(host)
-	cd ../hardware-testing && $(MAKE) push-ot3 host=$(host)
+sync-sw-ot3: push-ot3
+	cd .. && $(MAKE) push-ot3 host=$(host)
 
 .PHONY: sync-fw-ot3
 sync-fw-ot3:

diff --git a/hardware-testing/hardware_testing/gravimetric/execute.py b/hardware-testing/hardware_testing/gravimetric/execute.py
@@ -1,4 +1,5 @@
 """Gravimetric."""
+from time import sleep
 from dataclasses import dataclass
 from inspect import getsource
 from statistics import stdev
@@ -113,7 +114,7 @@ def _reduce_volumes_to_not_exceed_software_limit(
         liq_cls = get_liquid_class(
             cfg.pipette_volume, cfg.pipette_channels, cfg.tip_volume, int(v)
         )
-        max_vol = cfg.tip_volume - liq_cls.aspirate.air_gap.trailing_air_gap
+        max_vol = cfg.tip_volume - liq_cls.aspirate.trailing_air_gap
         test_volumes[i] = min(v, max_vol - 0.1)
     return test_volumes
 
@@ -663,7 +664,8 @@ def run(ctx: ProtocolContext, cfg: config.GravimetricConfig) -> None:
         setup_channel_offset = _get_channel_offset(cfg, channel=0)
         first_tip_location = first_tip.top().move(setup_channel_offset)
         _pick_up_tip(ctx, pipette, cfg, location=first_tip_location)
-        pipette.home()
+        mnt = OT3Mount.LEFT if cfg.pipette_mount == "left" else OT3Mount.RIGHT
+        ctx._core.get_hardware().retract(mnt)
         if not ctx.is_simulating():
             ui.get_user_ready("REPLACE first tip with NEW TIP")
             ui.get_user_ready("CLOSE the door, and MOVE AWAY from machine")
@@ -689,9 +691,10 @@ def run(ctx: ProtocolContext, cfg: config.GravimetricConfig) -> None:
             pipette.move_to(hover_pos)
             for i in range(config.SCALE_SECONDS_TO_TRUE_STABILIZE):
                 print(
-                    f"wait {i + 1}/{config.SCALE_SECONDS_TO_TRUE_STABILIZE} seconds before"
-                    f" measuring evaporation"
+                    f"wait for scale to stabilize "
+                    f"({i + 1}/{config.SCALE_SECONDS_TO_TRUE_STABILIZE})"
                 )
+                sleep(1)
             actual_asp_list_evap: List[float] = []
             actual_disp_list_evap: List[float] = []
             for trial in range(config.NUM_BLANK_TRIALS):

diff --git a/hardware-testing/hardware_testing/gravimetric/execute_photometric.py b/hardware-testing/hardware_testing/gravimetric/execute_photometric.py
@@ -11,7 +11,7 @@
 
 from hardware_testing.data.csv_report import CSVReport
 from hardware_testing.data import create_run_id_and_start_time, ui, get_git_description
-from hardware_testing.opentrons_api.types import Point
+from hardware_testing.opentrons_api.types import Point, OT3Mount
 from .measurement import (
     MeasurementType,
     create_measurement_tag,
@@ -72,7 +72,7 @@ def _reduce_volumes_to_not_exceed_software_limit(
 ) -> List[float]:
     for i, v in enumerate(test_volumes):
         liq_cls = get_liquid_class(cfg.pipette_volume, 96, cfg.tip_volume, int(v))
-        max_vol = cfg.tip_volume - liq_cls.aspirate.air_gap.trailing_air_gap
+        max_vol = cfg.tip_volume - liq_cls.aspirate.trailing_air_gap
         test_volumes[i] = min(v, max_vol - 0.1)
     return test_volumes
 
@@ -493,7 +493,8 @@ def _next_tip() -> Well:
         setup_tip = tips[0][0]
         volume_for_setup = max(test_volumes)
         _pick_up_tip(ctx, pipette, cfg, location=setup_tip.top())
-        pipette.home()
+        mnt = OT3Mount.LEFT if cfg.pipette_mount == "left" else OT3Mount.RIGHT
+        ctx._core.get_hardware().retract(mnt)
         if not ctx.is_simulating():
             ui.get_user_ready("REPLACE first tip with NEW TIP")
         required_ul = max(