feat(gripper): allow the encoder value to debounce if deviated from expected val #5574
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| name: "Pipettes build/test" | |
| on: | |
| pull_request: | |
| paths: | |
| - "pipettes/**" | |
| - "common/**" | |
| - "can/**" | |
| - "motor-control/**" | |
| - "spi/**" | |
| - "include/**" | |
| - "!include/gantry/**" | |
| - "!include/head/**" | |
| - "i2c/**" | |
| - "cmake/*" | |
| - "!cmake/Arduino*" | |
| - "CMakeLists.txt" | |
| - "pipettes/CMakeLists.txt" | |
| - "CMakePresets.json" | |
| - ".clang-format" | |
| - ".clang-tidy" | |
| push: | |
| paths: | |
| - "pipettes/**" | |
| - "common/**" | |
| - "can/**" | |
| - "i2c/**" | |
| - "spi/**" | |
| - "motor-control/**" | |
| - "include/**" | |
| - "!include/gantry/**" | |
| - "!include/head/**" | |
| - "cmake/*" | |
| - "!cmake/Arduino*" | |
| - "CMakeLists.txt" | |
| - "pipettes/CMakeLists.txt" | |
| - "CMakePresets.json" | |
| - ".clang-format" | |
| - ".clang-tidy" | |
| - ".github/workflows/pipettes.yaml" | |
| branches: | |
| - "*" | |
| tags: | |
| - "pipettes@*" | |
| workflow_dispatch: | |
| env: | |
| ci: 1 | |
| defaults: | |
| run: | |
| shell: bash | |
| jobs: | |
| cross-compile-check: | |
| name: "Cross-Compile/Check" | |
| runs-on: "ubuntu-20.04" | |
| timeout-minutes: 20 | |
| steps: | |
| - uses: "actions/checkout@v2" | |
| with: | |
| fetch-depth: 0 | |
| - uses: "actions/cache@v3" | |
| with: | |
| path: "./stm32-tools" | |
| key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ secrets.CACHE_VERSION }} | |
| - name: "Configure current revs" | |
| run: cmake --preset=cross . -DCMAKE_BUILD_TYPE=RelWithDebInfo | |
| - name: "Build current revs" | |
| run: cmake --build --preset=pipettes --target pipettes-images pipettes-applications | |
| - name: "Lint" | |
| run: cmake --build --preset=pipettes --target pipettes-lint | |
| - name: "Format" | |
| run: cmake --build --preset=pipettes --target pipettes-format-ci | |
| host-compile-test: | |
| name: "Host-Compile/Test" | |
| runs-on: "ubuntu-20.04" | |
| timeout-minutes: 20 | |
| steps: | |
| - name: Update and install gcc-10 & g++-10 | |
| run: | | |
| sudo apt update | |
| sudo apt install gcc-10 g++-10 | |
| - name: Checkout ot3-firmware repository | |
| uses: "actions/checkout@v2" | |
| with: | |
| fetch-depth: 0 | |
| path: ot3-firmware | |
| - name: Checkout opentrons repository | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: "Opentrons/opentrons" | |
| path: opentrons | |
| - name: Cache stm32-tools | |
| uses: "actions/cache@v3" | |
| with: | |
| path: "./stm32-tools" | |
| key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ secrets.CACHE_VERSION }} | |
| - name: "Configure" | |
| run: cmake --preset=host-gcc10 . | |
| working-directory: ot3-firmware | |
| - name: 'Build and test' | |
| run: cmake --build ./build-host --target pipettes-build-and-test | |
| working-directory: ot3-firmware | |
| - name: 'Setup state_manager' | |
| run: cmake --build ./build-host/ --target state-manager-setup | |
| working-directory: ot3-firmware | |
| - name: 'Build single simulator' | |
| run: cmake --build ./build-host --target pipettes-single-simulator | |
| working-directory: ot3-firmware | |
| - name: 'Build multi simulator' | |
| run: cmake --build ./build-host --target pipettes-multi-simulator | |
| working-directory: ot3-firmware | |
| - name: 'Build 96 simulator' | |
| run: cmake --build ./build-host --target pipettes-96-simulator | |
| working-directory: ot3-firmware | |
| - name: "Upload artifacts" | |
| if: github.event_name != 'pull_request' | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: "pipettes-simulators-${{github.ref_name}}" | |
| path: | | |
| build-host/pipettes/simulator/pipettes-*-simulator |