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caila-marashajcaila-marashaj
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new pipette current configs
1 parent 93f08d2 commit 115fdb2

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61 files changed

+1246
-347
lines changed

‎api/src/opentrons/hardware_control/ot3api.py

Lines changed: 12 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -799,13 +799,23 @@ async def home_gripper_jaw(self) -> None:
799799
except GripperNotAttachedError:
800800
pass
801801

802-
async def home_plunger(self, mount: Union[top_types.Mount, OT3Mount]) -> None:
802+
async def home_plunger(self, mount: Union[top_types.Mount, OT3Mount], unstick: bool = False) -> None:
803803
"""
804804
Home the plunger motor for a mount, and then return it to the 'bottom'
805805
position.
806806
"""
807-
808807
checked_mount = OT3Mount.from_mount(mount)
808+
809+
if unstick:
810+
instr = self._pipette_handler.hardware_instruments[checked_mount]
811+
unstick_current = instr.plunger_motor_current.homing
812+
813+
await self._backend.set_active_current(
814+
{
815+
Axis.of_main_tool_actuator(checked_mount): unstick_current
816+
}
817+
)
818+
809819
await self.home([Axis.of_main_tool_actuator(checked_mount)])
810820
instr = self._pipette_handler.hardware_instruments[checked_mount]
811821
if instr:

‎shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json

Lines changed: 22 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,11 @@
1717
"increment": 0.0,
1818
"distance": 0.0
1919
},
20-
"plungerMotorConfigurations": { "idle": 0.05, "run": 0.5 },
20+
"plungerMotorConfigurations": {
21+
"idle": 0.05,
22+
"run": 0.5,
23+
"homing": 1
24+
},
2125
"plungerPositionsConfigurations": {
2226
"default": {
2327
"top": 19.5,
@@ -26,15 +30,28 @@
2630
"drop": -4.0
2731
}
2832
},
29-
"availableSensors": { "sensors": [] },
33+
"availableSensors": {
34+
"sensors": []
35+
},
3036
"partialTipConfigurations": {
3137
"partialTipSupported": true,
32-
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
38+
"availableConfigurations": [
39+
1,
40+
2,
41+
3,
42+
4,
43+
5,
44+
6,
45+
7,
46+
8
47+
]
3348
},
3449
"channels": 8,
3550
"shaftDiameter": 1.0,
3651
"shaftULperMM": 0.785,
3752
"backCompatNames": [],
3853
"backlashDistance": 0.0,
39-
"quirks": ["dropTipShake"]
40-
}
54+
"quirks": [
55+
"dropTipShake"
56+
]
57+
}

‎shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json

Lines changed: 22 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,11 @@
1717
"increment": 0.0,
1818
"distance": 0.0
1919
},
20-
"plungerMotorConfigurations": { "idle": 0.05, "run": 0.5 },
20+
"plungerMotorConfigurations": {
21+
"idle": 0.05,
22+
"run": 0.5,
23+
"homing": 1
24+
},
2125
"plungerPositionsConfigurations": {
2226
"default": {
2327
"top": 19.5,
@@ -26,15 +30,28 @@
2630
"drop": -5.5
2731
}
2832
},
29-
"availableSensors": { "sensors": [] },
33+
"availableSensors": {
34+
"sensors": []
35+
},
3036
"partialTipConfigurations": {
3137
"partialTipSupported": true,
32-
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
38+
"availableConfigurations": [
39+
1,
40+
2,
41+
3,
42+
4,
43+
5,
44+
6,
45+
7,
46+
8
47+
]
3348
},
3449
"channels": 8,
3550
"shaftDiameter": 1.0,
3651
"shaftULperMM": 0.785,
3752
"backCompatNames": [],
3853
"backlashDistance": 0.0,
39-
"quirks": ["dropTipShake"]
40-
}
54+
"quirks": [
55+
"dropTipShake"
56+
]
57+
}

‎shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json

Lines changed: 22 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,11 @@
1717
"increment": 0.0,
1818
"distance": 0.0
1919
},
20-
"plungerMotorConfigurations": { "idle": 0.05, "run": 0.5 },
20+
"plungerMotorConfigurations": {
21+
"idle": 0.05,
22+
"run": 0.5,
23+
"homing": 1
24+
},
2125
"plungerPositionsConfigurations": {
2226
"default": {
2327
"top": 19.5,
@@ -26,15 +30,28 @@
2630
"drop": -4.5
2731
}
2832
},
29-
"availableSensors": { "sensors": [] },
33+
"availableSensors": {
34+
"sensors": []
35+
},
3036
"partialTipConfigurations": {
3137
"partialTipSupported": true,
32-
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
38+
"availableConfigurations": [
39+
1,
40+
2,
41+
3,
42+
4,
43+
5,
44+
6,
45+
7,
46+
8
47+
]
3348
},
3449
"channels": 8,
3550
"shaftDiameter": 1.0,
3651
"shaftULperMM": 0.785,
3752
"backCompatNames": [],
3853
"backlashDistance": 0.0,
39-
"quirks": ["dropTipShake"]
40-
}
54+
"quirks": [
55+
"dropTipShake"
56+
]
57+
}

‎shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json

Lines changed: 23 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,11 @@
1717
"increment": 0.0,
1818
"distance": 0.0
1919
},
20-
"plungerMotorConfigurations": { "idle": 0.05, "run": 0.5 },
20+
"plungerMotorConfigurations": {
21+
"idle": 0.05,
22+
"run": 0.5,
23+
"homing": 1
24+
},
2125
"plungerPositionsConfigurations": {
2226
"default": {
2327
"top": 19.5,
@@ -26,15 +30,29 @@
2630
"drop": -4.5
2731
}
2832
},
29-
"availableSensors": { "sensors": [] },
33+
"availableSensors": {
34+
"sensors": []
35+
},
3036
"partialTipConfigurations": {
3137
"partialTipSupported": true,
32-
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
38+
"availableConfigurations": [
39+
1,
40+
2,
41+
3,
42+
4,
43+
5,
44+
6,
45+
7,
46+
8
47+
]
3348
},
3449
"channels": 8,
3550
"shaftDiameter": 1.0,
3651
"shaftULperMM": 0.785,
3752
"backCompatNames": [],
3853
"backlashDistance": 0.0,
39-
"quirks": ["dropTipShake", "doubleDropTip"]
40-
}
54+
"quirks": [
55+
"dropTipShake",
56+
"doubleDropTip"
57+
]
58+
}

‎shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json

Lines changed: 23 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,11 @@
1717
"increment": 0.0,
1818
"distance": 0.0
1919
},
20-
"plungerMotorConfigurations": { "idle": 0.05, "run": 0.5 },
20+
"plungerMotorConfigurations": {
21+
"idle": 0.05,
22+
"run": 0.5,
23+
"homing": 1
24+
},
2125
"plungerPositionsConfigurations": {
2226
"default": {
2327
"top": 19.5,
@@ -26,15 +30,29 @@
2630
"drop": -4.5
2731
}
2832
},
29-
"availableSensors": { "sensors": [] },
33+
"availableSensors": {
34+
"sensors": []
35+
},
3036
"partialTipConfigurations": {
3137
"partialTipSupported": true,
32-
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
38+
"availableConfigurations": [
39+
1,
40+
2,
41+
3,
42+
4,
43+
5,
44+
6,
45+
7,
46+
8
47+
]
3348
},
3449
"channels": 8,
3550
"shaftDiameter": 1.0,
3651
"shaftULperMM": 0.785,
3752
"backCompatNames": [],
3853
"backlashDistance": 0.0,
39-
"quirks": ["dropTipShake", "doubleDropTip"]
40-
}
54+
"quirks": [
55+
"dropTipShake",
56+
"doubleDropTip"
57+
]
58+
}

‎shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json

Lines changed: 35 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
{
22
"$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json",
3-
"displayName": "Flex 8-Channel 1000 μL",
3+
"displayName": "Flex 8-Channel 1000 \u03bcL",
44
"model": "p1000",
55
"displayCategory": "FLEX",
66
"pickUpTipConfigurations": {
@@ -10,8 +10,15 @@
1010
"increment": 0.0,
1111
"distance": 13.0
1212
},
13-
"dropTipConfigurations": { "current": 1.0, "speed": 10 },
14-
"plungerMotorConfigurations": { "idle": 0.3, "run": 1.0 },
13+
"dropTipConfigurations": {
14+
"current": 1.0,
15+
"speed": 10
16+
},
17+
"plungerMotorConfigurations": {
18+
"idle": 0.3,
19+
"run": 1.0,
20+
"homing": 1
21+
},
1522
"plungerPositionsConfigurations": {
1623
"default": {
1724
"top": 0.5,
@@ -21,19 +28,38 @@
2128
}
2229
},
2330
"availableSensors": {
24-
"sensors": ["pressure", "capacitive", "environment"],
25-
"pressure": { "count": 2 },
26-
"capacitive": { "count": 2 },
27-
"environment": { "count": 1 }
31+
"sensors": [
32+
"pressure",
33+
"capacitive",
34+
"environment"
35+
],
36+
"pressure": {
37+
"count": 2
38+
},
39+
"capacitive": {
40+
"count": 2
41+
},
42+
"environment": {
43+
"count": 1
44+
}
2845
},
2946
"partialTipConfigurations": {
3047
"partialTipSupported": true,
31-
"availableConfigurations": [1, 2, 3, 4, 5, 6, 7, 8]
48+
"availableConfigurations": [
49+
1,
50+
2,
51+
3,
52+
4,
53+
5,
54+
6,
55+
7,
56+
8
57+
]
3258
},
3359
"backCompatNames": [],
3460
"channels": 8,
3561
"shaftDiameter": 9.0,
3662
"shaftULperMM": 63.617,
3763
"backlashDistance": 0.0,
3864
"quirks": []
39-
}
65+
}

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