Merge branch 'edge' into AUTH-1295-add_get_load_name

Author: sanni-t

api-client/src/modules/api-types.ts

@@ -10,6 +10,7 @@ interface PhysicalPort {
   port: number
   hub: boolean
   portGroup: PortGroup
+  hubPort?: number
 }
 
 type ModuleOffsetSource =

api/docs/v2/pipettes/characteristics.rst

@@ -184,29 +184,32 @@ These flow rates will remain in effect until you change the ``flow_rate`` attrib
 Flex Pipette Flow Rates
 -----------------------
 
-Flex pipette flow rates depend on pipette volume and tip capacity. Each pipette–tip combination has a default flow rate for aspirating, dispensing, and blowing out liquid. When using a 50 µL pipette, you should only use 50 µL tips.
-
-.. list-table::
-    :header-rows: 1
-    
-    * - Pipette Model
-      - Tip Capacity (µL)
-      - Flow Rate (µL/s)
-    * - 50 µL (1- and 8-channel)
-      - 50
-      - 57
-    * - 1000 µL (1-, 8-, and 96-channel)
-      - 50
-      - 478
-    * - 1000 µL (1-, 8-, and 96-channel)
-      - 200
-      - 716
-    * - 1000 µL (1-, 8-, and 96-channel)
-      - 1000
-      - 716
-
-
-Additionally, all Flex pipettes have a well bottom clearance of 1 mm for aspirate and dispense actions.
+The following table provides data on the default aspirate, dispense, and blowout flow rates (in µL/s) for Flex pipettes. Default flow rates for each pipette-tip combination are the same across all three actions.
+
+.. Excludes low-vol 96 channel. Not yet released.
+
++-----------------------------+-------------------+------------------------+
+| Pipette Model               | Tip Capacity (µL) | Default Flow Rate (µL) |
++=============================+===================+========================+
+| 1- and 8-channel (50 µL)    | 50                | 35                     |
++-----------------------------+-------------------+------------------------+
+| 1- and 8-channel (1000 µL)  | 50                | 478                    |
++                             +-------------------+------------------------+
+|                             | 200               | 716                    |
++                             +-------------------+------------------------+
+|                             | 1000              | 716                    |
++-----------------------------+-------------------+------------------------+
+| 96-channel (5-1000 µL)      | 50                | 6                      |
++                             +-------------------+------------------------+
+|                             | 200               | 80                     |
++                             +-------------------+------------------------+
+|                             | 1000              | 160                    |
++-----------------------------+-------------------+------------------------+
+
+Additionally:
+
+- When using a 50 µL pipette, you should only use 50 µL tips.
+- All Flex pipettes have a well bottom clearance of 1 mm for aspirate and dispense actions.
 
 .. _ot2-flow-rates:
 

api/src/opentrons/drivers/flex_stacker/driver.py

@@ -67,14 +67,14 @@
             max_speed=10.0,
             acceleration=100.0,
             max_speed_discont=40,
-            current=1.8,
+            current=1.5,
         ),
         "move": MoveParams(
             StackerAxis.Z,
             max_speed=200.0,
             acceleration=500.0,
             max_speed_discont=40,
-            current=1.8,
+            current=1.5,
         ),
     },
     StackerAxis.L: {

api/src/opentrons/hardware_control/modules/flex_stacker.py

@@ -273,7 +273,9 @@ async def move_axis(
         await self.reset_stall_detected()
         motion_params = STACKER_MOTION_CONFIG[axis]["move"]
         await self._driver.set_run_current(axis, current or motion_params.current or 0)
-        if any([speed, acceleration]):
+        if any([speed, acceleration, current]):
+            motion_params = self._reader.motion_params[axis]
+            motion_params.current = current or motion_params.current
             motion_params.max_speed = speed or motion_params.max_speed
             motion_params.acceleration = acceleration or motion_params.acceleration
         distance = direction.distance(distance)
@@ -391,8 +393,11 @@ async def store_labware(self, labware_height: float) -> bool:
 
         # Transfer
         await self.open_latch()
-        await self.move_axis(StackerAxis.Z, Direction.EXTEND, (labware_height / 2))
-        await self.home_axis(StackerAxis.Z, Direction.EXTEND)
+        z_speed = (STACKER_MOTION_CONFIG[StackerAxis.Z]["move"].max_speed or 0) / 2
+        await self.move_axis(
+            StackerAxis.Z, Direction.EXTEND, (labware_height / 2), z_speed
+        )
+        await self.home_axis(StackerAxis.Z, Direction.EXTEND, z_speed)
         await self.close_latch()
 
         # Move Z then X axis
@@ -448,7 +453,7 @@ async def get_limit_switch_status(self) -> None:
 
     async def get_motion_parameters(self) -> None:
         """Get the motion parameters used by the axis motors."""
-        self.move_params = {
+        self.motion_params = {
             axis: await self._driver.get_motion_params(axis) for axis in StackerAxis
         }
 

app/src/assets/localization/en/quick_transfer.json

@@ -132,10 +132,10 @@
   "touch_tip": "Touch tip",
   "touch_tip_after_aspirating": "Touch tip after aspirating",
   "touch_tip_before_dispensing": "Touch tip before dispensing",
-  "touch_tip_position_mm": "Touch tip position from bottom of well (mm)",
+  "touch_tip_position_mm": "Touch tip position from top of well (mm)",
   "touch_tip_value": "{{position}} mm from bottom",
   "use_deck_slots": "<block>Quick transfers use deck slots B2-D2. These slots hold a tip rack, a source labware, and a destination labware.</block><block>Make sure that your deck configuration is up to date to avoid collisions.</block>",
-  "value_out_of_range": "Value must be between {{min}}-{{max}}",
+  "value_out_of_range": "Value must be between {{min}} to {{max}}",
   "too_many_pins_body": "Remove a quick transfer in order to add more transfers to your pinned list.",
   "too_many_pins_header": "You've hit your max!",
   "transfer_analysis_failed": "quick transfer analysis failed",

app/src/organisms/DeviceDetailsDeckConfiguration/AddFixtureModal.tsx

@@ -47,6 +47,10 @@ import {
   TRASH_BIN_ADAPTER_FIXTURE,
   WASTE_CHUTE_CUTOUT,
   WASTE_CHUTE_FIXTURES,
+  FLEX_STACKER_MODULE_V1,
+  FLEX_STACKER_V1_FIXTURE,
+  FLEX_STACKER_WITH_WASTE_CHUTE_ADAPTER_COVERED_FIXTURE,
+  FLEX_STACKER_WTIH_WASTE_CHUTE_ADAPTER_NO_COVER_FIXTURE,
 } from '@opentrons/shared-data'
 
 import { ODD_FOCUS_VISIBLE } from '/app/atoms/buttons/constants'
@@ -249,6 +253,52 @@ export function AddFixtureModal({
         ]
       }
     }
+    if (
+      cutoutId === 'cutoutD3' &&
+      unconfiguredMods.some(m => m.moduleModel === FLEX_STACKER_MODULE_V1)
+    ) {
+      const unconfiguredFlexStackers: CutoutConfig[][] = []
+      unconfiguredMods
+        .filter(mod => mod.moduleModel === FLEX_STACKER_MODULE_V1)
+        .forEach(mod => {
+          unconfiguredFlexStackers.push([
+            {
+              cutoutId,
+              cutoutFixtureId: FLEX_STACKER_V1_FIXTURE,
+              opentronsModuleSerialNumber: mod.serialNumber,
+            },
+          ])
+          unconfiguredFlexStackers.push([
+            {
+              cutoutId,
+              cutoutFixtureId: FLEX_STACKER_WITH_WASTE_CHUTE_ADAPTER_COVERED_FIXTURE,
+              opentronsModuleSerialNumber: mod.serialNumber,
+            },
+          ])
+          unconfiguredFlexStackers.push([
+            {
+              cutoutId,
+              cutoutFixtureId: FLEX_STACKER_WTIH_WASTE_CHUTE_ADAPTER_NO_COVER_FIXTURE,
+              opentronsModuleSerialNumber: mod.serialNumber,
+            },
+          ])
+        })
+      availableOptions.push(...unconfiguredFlexStackers)
+    } else if (
+      STAGING_AREA_CUTOUTS.includes(cutoutId) &&
+      unconfiguredMods.some(m => m.moduleModel === FLEX_STACKER_MODULE_V1)
+    ) {
+      const unconfiguredFlexStackers = unconfiguredMods
+        .filter(mod => mod.moduleModel === FLEX_STACKER_MODULE_V1)
+        .map(mod => [
+          {
+            cutoutId,
+            cutoutFixtureId: FLEX_STACKER_V1_FIXTURE,
+            opentronsModuleSerialNumber: mod.serialNumber,
+          },
+        ])
+      availableOptions = [...availableOptions, ...unconfiguredFlexStackers]
+    }
   } else if (optionStage === 'wasteChuteOptions') {
     availableOptions = WASTE_CHUTE_FIXTURES.map(fixture => [
       {
@@ -315,22 +365,30 @@ export function AddFixtureModal({
     closeModal()
   }
 
-  const fixtureOptions = availableOptions.map(cutoutConfigs => (
-    <FixtureOption
-      key={cutoutConfigs[0].cutoutFixtureId}
-      optionName={getFixtureDisplayName(
-        cutoutConfigs[0].cutoutFixtureId,
-        (modulesData?.data ?? []).find(
-          m => m.serialNumber === cutoutConfigs[0].opentronsModuleSerialNumber
-        )?.usbPort.port
-      )}
-      buttonText={t('add')}
-      onClickHandler={() => {
-        handleAddFixture(cutoutConfigs)
-      }}
-      isOnDevice={isOnDevice}
-    />
-  ))
+  const fixtureOptions = availableOptions.map(cutoutConfigs => {
+    const usbPort = (modulesData?.data ?? []).find(
+      m => m.serialNumber === cutoutConfigs[0].opentronsModuleSerialNumber
+    )?.usbPort
+    const portDisplay =
+      usbPort?.hubPort != null
+        ? `${usbPort.port}.${usbPort.hubPort}`
+        : usbPort?.port
+
+    return (
+      <FixtureOption
+        key={cutoutConfigs[0].cutoutFixtureId}
+        optionName={getFixtureDisplayName(
+          cutoutConfigs[0].cutoutFixtureId,
+          portDisplay
+        )}
+        buttonText={t('add')}
+        onClickHandler={() => {
+          handleAddFixture(cutoutConfigs)
+        }}
+        isOnDevice={isOnDevice}
+      />
+    )
+  })
 
   return (
     <>

app/src/organisms/ODD/QuickTransferFlow/QuickTransferAdvancedSettings/TouchTip.tsx

@@ -47,10 +47,12 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
       : state.touchTipDispense != null
   )
   const [currentStep, setCurrentStep] = useState<number>(1)
-  const [position, setPosition] = useState<number | null>(
-    kind === 'aspirate'
-      ? state.touchTipAspirate ?? null
-      : state.touchTipDispense ?? null
+  const touchTipAspirate =
+    state.touchTipAspirate != null ? state.touchTipAspirate.toString() : null
+  const touchTipDispense =
+    state.touchTipDispense != null ? state.touchTipDispense.toString() : null
+  const [position, setPosition] = useState<string | null>(
+    kind === 'aspirate' ? touchTipAspirate : touchTipDispense
   )
 
   const touchTipAction =
@@ -94,7 +96,10 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
         setCurrentStep(2)
       }
     } else if (currentStep === 2) {
-      dispatch({ type: touchTipAction, position: position ?? undefined })
+      dispatch({
+        type: touchTipAction,
+        position: position != null ? parseInt(position) : undefined,
+      })
       trackEventWithRobotSerial({
         name: ANALYTICS_QUICK_TRANSFER_SETTING_SAVED,
         properties: {
@@ -130,10 +135,13 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
   }
 
   // the allowed range for touch tip is half the height of the well to 1x the height
-  const positionRange = { min: Math.round(wellHeight / 2), max: wellHeight }
+  const positionRange = { min: -Math.round(wellHeight / 2), max: 0 }
   const positionError =
     position !== null &&
-    (position < positionRange.min || position > positionRange.max)
+    (position === '-' ||
+      position.indexOf('-') !== position.lastIndexOf('-') ||
+      Number(position) < positionRange.min ||
+      Number(position) > positionRange.max)
       ? t(`value_out_of_range`, {
           min: positionRange.min,
           max: Math.floor(positionRange.max),
@@ -197,8 +205,8 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
             marginTop={SPACING.spacing68}
           >
             <InputField
-              type="number"
-              value={position}
+              type="text"
+              value={String(position ?? '')}
               title={t('touch_tip_position_mm')}
               error={positionError}
               readOnly
@@ -211,10 +219,11 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
             borderRadius="0"
           >
             <NumericalKeyboard
+              hasHyphen
               keyboardRef={keyboardRef}
               initialValue={String(position ?? '')}
               onChange={e => {
-                setPosition(Number(e))
+                setPosition(e)
               }}
             />
           </Flex>

app/src/organisms/ODD/QuickTransferFlow/__tests__/QuickTransferAdvancedSettings/AirGap.test.tsx

@@ -123,7 +123,7 @@ describe('AirGap', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Air gap volume (µL)',
-        error: 'Value must be between 1-180',
+        error: 'Value must be between 1 to 180',
         readOnly: true,
         type: 'number',
         value: 0,
@@ -152,7 +152,7 @@ describe('AirGap', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Air gap volume (µL)',
-        error: 'Value must be between 1-80',
+        error: 'Value must be between 1 to 80',
         readOnly: true,
         type: 'number',
         value: 0,
@@ -179,7 +179,7 @@ describe('AirGap', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Air gap volume (µL)',
-        error: 'Value must be between 1-140',
+        error: 'Value must be between 1 to 140',
         readOnly: true,
         type: 'number',
         value: 0,
@@ -204,7 +204,7 @@ describe('AirGap', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Air gap volume (µL)',
-        error: 'Value must be between 1-200',
+        error: 'Value must be between 1 to 200',
         readOnly: true,
         type: 'number',
         value: 0,

app/src/organisms/ODD/QuickTransferFlow/__tests__/QuickTransferAdvancedSettings/Delay.test.tsx

@@ -132,7 +132,7 @@ describe('Delay', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Delay duration (seconds)',
-        error: 'Value must be between 1-9999999999',
+        error: 'Value must be between 1 to 9999999999',
         readOnly: true,
         type: 'number',
         value: 0,
@@ -158,7 +158,7 @@ describe('Delay', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Delay position from bottom of well (mm)',
-        error: 'Value must be between 1-100',
+        error: 'Value must be between 1 to 100',
         readOnly: true,
         type: 'number',
         value: 0,
@@ -188,7 +188,7 @@ describe('Delay', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Delay position from bottom of well (mm)',
-        error: 'Value must be between 1-400',
+        error: 'Value must be between 1 to 400',
         readOnly: true,
         type: 'number',
         value: 0,

app/src/organisms/ODD/QuickTransferFlow/__tests__/QuickTransferAdvancedSettings/FlowRate.test.tsx

@@ -133,7 +133,7 @@ describe('FlowRate', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Aspirate flow rate (µL/s)',
-        error: 'Value must be between 1-92',
+        error: 'Value must be between 1 to 92',
         readOnly: true,
         type: 'number',
         value: 0,

app/src/organisms/ODD/QuickTransferFlow/__tests__/QuickTransferAdvancedSettings/Mix.test.tsx

@@ -132,7 +132,7 @@ describe('Mix', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Mix volume (µL)',
-        error: 'Value must be between 1-200',
+        error: 'Value must be between 1 to 200',
         readOnly: true,
         type: 'number',
         value: 0,
@@ -158,7 +158,7 @@ describe('Mix', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Mix repetitions',
-        error: 'Value must be between 1-999',
+        error: 'Value must be between 1 to 999',
         readOnly: true,
         type: 'number',
         value: 0,