give 96ch the same homing current as run

Author: caila-marashaj

api/src/opentrons/hardware_control/ot3api.py

@@ -1313,6 +1313,16 @@ async def _retrieve_home_position() -> Tuple[
             await self._backend.home([axis], self.gantry_load)
         else:
             # both stepper and encoder positions are invalid, must home
+            if axis in Axis.pipette_axes():
+                # if we're homing a pipette for the first time, should do it
+                # at the homing current
+                mount = Axis.to_ot3_mount(axis)
+                instr = self._pipette_handler.hardware_instruments[mount]
+
+                if instr is not None:
+                    await self._backend.set_active_current(
+                        {axis: instr.plunger_motor_current.homing}
+                    )
             await self._backend.home([axis], self.gantry_load)
 
     async def _home(self, axes: Sequence[Axis]) -> None:

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

@@ -11,7 +11,7 @@
     "distance": 19.0
   },
   "dropTipConfigurations": { "current": 1.5, "speed": 5.5, "distance": 26.5 },
-  "plungerMotorConfigurations": { "idle": 0.3, "run": 2.0, "homing": 0.0 },
+  "plungerMotorConfigurations": { "idle": 0.3, "run": 2.0, "homing": 2.0 },
   "plungerPositionsConfigurations": {
     "default": {
       "top": 0,

shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json

@@ -11,7 +11,7 @@
     "distance": 19.0
   },
   "dropTipConfigurations": { "current": 1.5, "speed": 5.5, "distance": 26.5 },
-  "plungerMotorConfigurations": { "idle": 0.3, "run": 2.0, "homing": 0.0 },
+  "plungerMotorConfigurations": { "idle": 0.3, "run": 2.0, "homing": 2.0 },
   "plungerPositionsConfigurations": {
     "default": {
       "top": 0,

shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json

@@ -11,7 +11,7 @@
     "distance": 19.0
   },
   "dropTipConfigurations": { "current": 1.5, "speed": 5.5, "distance": 26.5 },
-  "plungerMotorConfigurations": { "idle": 0.3, "run": 2.0, "homing": 0.0 },
+  "plungerMotorConfigurations": { "idle": 0.3, "run": 2.0, "homing": 2.0 },
   "plungerPositionsConfigurations": {
     "default": {
       "top": 0,

shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json

@@ -18,7 +18,7 @@
   "plungerMotorConfigurations": {
     "idle": 0.3,
     "run": 0.8,
-    "homing": 0.0
+    "homing": 0.8
   },
   "plungerPositionsConfigurations": {
     "default": {

shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json

@@ -18,7 +18,7 @@
   "plungerMotorConfigurations": {
     "idle": 0.3,
     "run": 0.8,
-    "homing": 0.0
+    "homing": 0.8
   },
   "plungerPositionsConfigurations": {
     "default": {

shared-data/python/opentrons_shared_data/pipette/dev_types.py

@@ -155,6 +155,7 @@ class PipetteModelSpec(TypedDict, total=False):
     pickUpPresses: PipetteCustomizableConfigElementInt
     pickUpSpeed: PipetteCustomizableConfigElementFloat
     plungerCurrent: PipetteCustomizableConfigElementFloat
+    plungerHomingCurrent: float
     dropTipCurrent: PipetteCustomizableConfigElementFloat
     dropTipSpeed: PipetteCustomizableConfigElementFloat
     modelOffset: List[float]

shared-data/python/opentrons_shared_data/pipette/scripts/build_json_script.py

@@ -97,6 +97,7 @@ def _build_motor_configurations(
     if model_configurations:
         run = model_configurations["plungerCurrent"]["value"]
         idle = model_configurations.get("idleCurrent", run)
+        homing = model_configurations.get("plungerHomingCurrent", run)
     else:
         print("Handling default plunger motor currents\n")
         idle = float(
@@ -105,7 +106,10 @@ def _build_motor_configurations(
         run = float(
             input("Please provide the default run current of the plunger motor\n")
         )
-    return MotorConfigurations(idle=idle, run=run)
+        homing = float(
+            input("Please provide the default homing current of the plunger motor\n")
+        )
+    return MotorConfigurations(idle=idle, run=run, homing=homing)
 
 
 def _build_partial_tip_configurations(channels: int) -> PartialTipDefinition: