chore(release): 7.2.2

api/release-notes.md

@@ -6,6 +6,21 @@ log][]. For a list of currently known issues, please see the [Opentrons issue tr
 
 ---
 
+## Opentrons Robot Software Changes in 7.2.2
+
+Welcome to the v7.2.2 release of the Opentrons robot software!
+
+### Improved Features
+
+- Improved the low-volume performance of recently produced Flex 96-Channel Pipettes.
+
+### Bug Fixes
+
+- Restores the ability to use the speaker and camera on OT-2.
+- Restores the ability to use the camera on Flex.
+
+---
+
 ## Opentrons Robot Software Changes in 7.2.1
 
 Welcome to the v7.2.1 release of the Opentrons robot software!

api/src/opentrons/system/camera.py

@@ -1,6 +1,7 @@
 import asyncio
 import os
 from pathlib import Path
+
 from opentrons.config import ARCHITECTURE, SystemArchitecture
 from opentrons_shared_data.errors.exceptions import CommunicationError
 from opentrons_shared_data.errors.codes import ErrorCodes
@@ -29,7 +30,7 @@ async def take_picture(filename: Path) -> None:
         pass
 
     if ARCHITECTURE == SystemArchitecture.YOCTO:
-        cmd = f"v4l2-ctl --device /dev/video0 --set-fmt-video=width=1280,height=720,pixelformat=MJPG --stream-mmap --stream-to={str(filename)} --stream-count=1"
+        cmd = f"v4l2-ctl --device /dev/video2 --set-fmt-video=width=1280,height=720,pixelformat=MJPG --stream-mmap --stream-to={str(filename)} --stream-count=1"
     elif ARCHITECTURE == SystemArchitecture.BUILDROOT:
         cmd = f"ffmpeg -f video4linux2 -s 640x480 -i /dev/video0 -ss 0:0:1 -frames 1 {str(filename)}"
     else:  # HOST

app-shell/build/release-notes.md

@@ -6,6 +6,14 @@ log][]. For a list of currently known issues, please see the [Opentrons issue tr
 
 ---
 
+## Opentrons App Changes in 7.2.2
+
+Welcome to the v7.2.2 release of the Opentrons App!
+
+There are no changes to the Opentrons App in v7.2.2, but it is required for updating the robot software to improve some features.
+
+---
+
 ## Opentrons App Changes in 7.2.1
 
 Welcome to the v7.2.1 release of the Opentrons App!

shared-data/pipette/definitions/1/pipetteModelSpecs.json

@@ -10304,6 +10304,175 @@
       "quirks": [],
       "returnTipHeight": 0.83,
       "idleCurrent": 0.3
+    },
+    "p1000_96_v3.6": {
+      "name": "p1000_96",
+      "backCompatNames": [],
+      "top": {
+        "value": 0.5,
+        "min": 0,
+        "max": 45,
+        "units": "mm",
+        "type": "float"
+      },
+      "bottom": {
+        "value": 71.5,
+        "min": 55,
+        "max": 80,
+        "type": "float",
+        "units": "mm"
+      },
+      "blowout": {
+        "value": 76.5,
+        "min": 60,
+        "max": 85,
+        "units": "mm",
+        "type": "float"
+      },
+      "dropTip": {
+        "value": 92.5,
+        "min": 78,
+        "max": 119,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpCurrent": {
+        "value": 0.5,
+        "min": 0.05,
+        "max": 2.0,
+        "units": "amps",
+        "type": "float"
+      },
+      "pickUpDistance": {
+        "value": 13,
+        "min": 1,
+        "max": 30,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpIncrement": {
+        "value": 0.0,
+        "min": 0.0,
+        "max": 10.0,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpPresses": {
+        "value": 1,
+        "min": 0,
+        "max": 10,
+        "units": "presses",
+        "type": "int"
+      },
+      "pickUpSpeed": {
+        "value": 10,
+        "min": 1,
+        "max": 30,
+        "units": "mm/s",
+        "type": "float"
+      },
+      "nozzleOffset": [-8.0, -16.0, -259.15],
+      "modelOffset": [0.0, 0.0, 25.14],
+      "ulPerMm": [
+        {
+          "aspirate": [
+            [0.6464, 0.4817, 0.0427],
+            [1.0889, 0.2539, 0.1591],
+            [1.5136, 0.1624, 0.2587],
+            [1.9108, 0.1042, 0.3467],
+            [2.2941, 0.0719, 0.4085],
+            [2.9978, 0.037, 0.4886],
+            [3.7731, 0.0378, 0.4863],
+            [4.7575, 0.0516, 0.4342],
+            [5.5024, 0.011, 0.6275],
+            [6.2686, 0.0114, 0.6253],
+            [7.005, 0.0054, 0.6625],
+            [8.5207, 0.0063, 0.6563],
+            [10.0034, 0.003, 0.6844],
+            [11.5075, 0.0031, 0.6833],
+            [13.0327, 0.0032, 0.6829],
+            [14.5356, 0.0018, 0.7003],
+            [17.5447, 0.0014, 0.7063],
+            [20.5576, 0.0011, 0.7126],
+            [23.5624, 0.0007, 0.7197],
+            [26.5785, 0.0007, 0.721],
+            [29.593, 0.0005, 0.7248],
+            [32.6109, 0.0004, 0.7268],
+            [35.6384, 0.0004, 0.727],
+            [38.6439, 0.0002, 0.7343],
+            [41.6815, 0.0004, 0.7284],
+            [44.6895, 0.0002, 0.7372],
+            [47.6926, 0.0001, 0.7393],
+            [51.4567, 0.0001, 0.7382]
+          ],
+
+          "dispense": [
+            [0.6464, 0.4817, 0.0427],
+            [1.0889, 0.2539, 0.1591],
+            [1.5136, 0.1624, 0.2587],
+            [1.9108, 0.1042, 0.3467],
+            [2.2941, 0.0719, 0.4085],
+            [2.9978, 0.037, 0.4886],
+            [3.7731, 0.0378, 0.4863],
+            [4.7575, 0.0516, 0.4342],
+            [5.5024, 0.011, 0.6275],
+            [6.2686, 0.0114, 0.6253],
+            [7.005, 0.0054, 0.6625],
+            [8.5207, 0.0063, 0.6563],
+            [10.0034, 0.003, 0.6844],
+            [11.5075, 0.0031, 0.6833],
+            [13.0327, 0.0032, 0.6829],
+            [14.5356, 0.0018, 0.7003],
+            [17.5447, 0.0014, 0.7063],
+            [20.5576, 0.0011, 0.7126],
+            [23.5624, 0.0007, 0.7197],
+            [26.5785, 0.0007, 0.721],
+            [29.593, 0.0005, 0.7248],
+            [32.6109, 0.0004, 0.7268],
+            [35.6384, 0.0004, 0.727],
+            [38.6439, 0.0002, 0.7343],
+            [41.6815, 0.0004, 0.7284],
+            [44.6895, 0.0002, 0.7372],
+            [47.6926, 0.0001, 0.7393],
+            [51.4567, 0.0001, 0.7382]
+          ]
+        }
+      ],
+      "plungerCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.5,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.25,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipSpeed": {
+        "value": 10,
+        "min": 0.001,
+        "max": 30,
+        "units": "mm/sec",
+        "type": "float"
+      },
+      "tipOverlap": {
+        "default": 10.5,
+        "opentrons/opentrons_96_tiprack_50ul/1": 10.5
+      },
+      "tipLength": {
+        "value": 78.3,
+        "units": "mm",
+        "type": "float",
+        "min": 0,
+        "max": 100
+      },
+      "quirks": [],
+      "returnTipHeight": 0.83,
+      "idleCurrent": 0.3
     }
   },
   "mutableConfigs": [

shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_6.json

@@ -0,0 +1,87 @@
+{
+  "$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json",
+  "displayName": "Flex 96-Channel 1000 μL",
+  "model": "p1000",
+  "displayCategory": "FLEX",
+  "pickUpTipConfigurations": {
+    "pressFit": {
+      "presses": 1,
+      "increment": 0.0,
+      "speed": 10.0,
+      "distance": 13.0,
+      "currentByTipCount": {
+        "1": 0.2,
+        "2": 0.25,
+        "3": 0.3,
+        "4": 0.35,
+        "5": 0.4,
+        "6": 0.45,
+        "7": 0.5,
+        "8": 0.55,
+        "12": 0.19,
+        "16": 0.25,
+        "24": 0.38,
+        "48": 0.75
+      }
+    },
+    "camAction": {
+      "speed": 5.5,
+      "distance": 10.0,
+      "prep_move_distance": 8.25,
+      "prep_move_speed": 10.0,
+      "connectTiprackDistanceMM": 7.0,
+      "currentByTipCount": {
+        "96": 1.5
+      }
+    }
+  },
+  "dropTipConfigurations": {
+    "camAction": {
+      "current": 1.5,
+      "speed": 5.5,
+      "distance": 10.8,
+      "prep_move_distance": 19.0,
+      "prep_move_speed": 10.0
+    }
+  },
+  "plungerMotorConfigurations": {
+    "idle": 0.3,
+    "run": 0.8
+  },
+  "plungerPositionsConfigurations": {
+    "default": {
+      "top": 0.5,
+      "bottom": 68.5,
+      "blowout": 73.5,
+      "drop": 80
+    }
+  },
+  "availableSensors": {
+    "sensors": ["pressure", "capacitive", "environment"],
+    "pressure": {
+      "count": 2
+    },
+    "capacitive": {
+      "count": 2
+    },
+    "environment": {
+      "count": 1
+    }
+  },
+  "partialTipConfigurations": {
+    "partialTipSupported": true,
+    "availableConfigurations": [1, 8, 12, 16, 24, 48, 96]
+  },
+  "backCompatNames": [],
+  "channels": 96,
+  "shaftDiameter": 4.5,
+  "shaftULperMM": 15.904,
+  "backlashDistance": 3.0,
+  "quirks": [],
+  "plungerHomingConfigurations": {
+    "current": 0.8,
+    "speed": 5
+  },
+  "tipPresenceCheckDistanceMM": 8.0,
+  "endTipActionRetractDistanceMM": 2.0
+}