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Merge branch 'edge' into pd-build-and-test-speedup
2 parents 3021d84 + b1684cb commit 0a24c27

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62 files changed

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -67,14 +67,14 @@
6767
max_speed=10.0,
6868
acceleration=100.0,
6969
max_speed_discont=40,
70-
current=1.8,
70+
current=1.5,
7171
),
7272
"move": MoveParams(
7373
StackerAxis.Z,
7474
max_speed=200.0,
7575
acceleration=500.0,
7676
max_speed_discont=40,
77-
current=1.8,
77+
current=1.5,
7878
),
7979
},
8080
StackerAxis.L: {

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

Lines changed: 9 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -273,7 +273,9 @@ async def move_axis(
273273
await self.reset_stall_detected()
274274
motion_params = STACKER_MOTION_CONFIG[axis]["move"]
275275
await self._driver.set_run_current(axis, current or motion_params.current or 0)
276-
if any([speed, acceleration]):
276+
if any([speed, acceleration, current]):
277+
motion_params = self._reader.motion_params[axis]
278+
motion_params.current = current or motion_params.current
277279
motion_params.max_speed = speed or motion_params.max_speed
278280
motion_params.acceleration = acceleration or motion_params.acceleration
279281
distance = direction.distance(distance)
@@ -391,8 +393,11 @@ async def store_labware(self, labware_height: float) -> bool:
391393

392394
# Transfer
393395
await self.open_latch()
394-
await self.move_axis(StackerAxis.Z, Direction.EXTEND, (labware_height / 2))
395-
await self.home_axis(StackerAxis.Z, Direction.EXTEND)
396+
z_speed = (STACKER_MOTION_CONFIG[StackerAxis.Z]["move"].max_speed or 0) / 2
397+
await self.move_axis(
398+
StackerAxis.Z, Direction.EXTEND, (labware_height / 2), z_speed
399+
)
400+
await self.home_axis(StackerAxis.Z, Direction.EXTEND, z_speed)
396401
await self.close_latch()
397402

398403
# Move Z then X axis
@@ -448,7 +453,7 @@ async def get_limit_switch_status(self) -> None:
448453

449454
async def get_motion_parameters(self) -> None:
450455
"""Get the motion parameters used by the axis motors."""
451-
self.move_params = {
456+
self.motion_params = {
452457
axis: await self._driver.get_motion_params(axis) for axis in StackerAxis
453458
}
454459

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -132,10 +132,10 @@
132132
"touch_tip": "Touch tip",
133133
"touch_tip_after_aspirating": "Touch tip after aspirating",
134134
"touch_tip_before_dispensing": "Touch tip before dispensing",
135-
"touch_tip_position_mm": "Touch tip position from bottom of well (mm)",
135+
"touch_tip_position_mm": "Touch tip position from top of well (mm)",
136136
"touch_tip_value": "{{position}} mm from bottom",
137137
"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>",
138-
"value_out_of_range": "Value must be between {{min}}-{{max}}",
138+
"value_out_of_range": "Value must be between {{min}} to {{max}}",
139139
"too_many_pins_body": "Remove a quick transfer in order to add more transfers to your pinned list.",
140140
"too_many_pins_header": "You've hit your max!",
141141
"transfer_analysis_failed": "quick transfer analysis failed",

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

Lines changed: 19 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -47,10 +47,12 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
4747
: state.touchTipDispense != null
4848
)
4949
const [currentStep, setCurrentStep] = useState<number>(1)
50-
const [position, setPosition] = useState<number | null>(
51-
kind === 'aspirate'
52-
? state.touchTipAspirate ?? null
53-
: state.touchTipDispense ?? null
50+
const touchTipAspirate =
51+
state.touchTipAspirate != null ? state.touchTipAspirate.toString() : null
52+
const touchTipDispense =
53+
state.touchTipDispense != null ? state.touchTipDispense.toString() : null
54+
const [position, setPosition] = useState<string | null>(
55+
kind === 'aspirate' ? touchTipAspirate : touchTipDispense
5456
)
5557

5658
const touchTipAction =
@@ -94,7 +96,10 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
9496
setCurrentStep(2)
9597
}
9698
} else if (currentStep === 2) {
97-
dispatch({ type: touchTipAction, position: position ?? undefined })
99+
dispatch({
100+
type: touchTipAction,
101+
position: position != null ? parseInt(position) : undefined,
102+
})
98103
trackEventWithRobotSerial({
99104
name: ANALYTICS_QUICK_TRANSFER_SETTING_SAVED,
100105
properties: {
@@ -130,10 +135,13 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
130135
}
131136

132137
// the allowed range for touch tip is half the height of the well to 1x the height
133-
const positionRange = { min: Math.round(wellHeight / 2), max: wellHeight }
138+
const positionRange = { min: -Math.round(wellHeight / 2), max: 0 }
134139
const positionError =
135140
position !== null &&
136-
(position < positionRange.min || position > positionRange.max)
141+
(position === '-' ||
142+
position.indexOf('-') !== position.lastIndexOf('-') ||
143+
Number(position) < positionRange.min ||
144+
Number(position) > positionRange.max)
137145
? t(`value_out_of_range`, {
138146
min: positionRange.min,
139147
max: Math.floor(positionRange.max),
@@ -197,8 +205,8 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
197205
marginTop={SPACING.spacing68}
198206
>
199207
<InputField
200-
type="number"
201-
value={position}
208+
type="text"
209+
value={String(position ?? '')}
202210
title={t('touch_tip_position_mm')}
203211
error={positionError}
204212
readOnly
@@ -211,10 +219,11 @@ export function TouchTip(props: TouchTipProps): JSX.Element {
211219
borderRadius="0"
212220
>
213221
<NumericalKeyboard
222+
hasHyphen
214223
keyboardRef={keyboardRef}
215224
initialValue={String(position ?? '')}
216225
onChange={e => {
217-
setPosition(Number(e))
226+
setPosition(e)
218227
}}
219228
/>
220229
</Flex>

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

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -123,7 +123,7 @@ describe('AirGap', () => {
123123
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
124124
{
125125
title: 'Air gap volume (µL)',
126-
error: 'Value must be between 1-180',
126+
error: 'Value must be between 1 to 180',
127127
readOnly: true,
128128
type: 'number',
129129
value: 0,
@@ -152,7 +152,7 @@ describe('AirGap', () => {
152152
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
153153
{
154154
title: 'Air gap volume (µL)',
155-
error: 'Value must be between 1-80',
155+
error: 'Value must be between 1 to 80',
156156
readOnly: true,
157157
type: 'number',
158158
value: 0,
@@ -179,7 +179,7 @@ describe('AirGap', () => {
179179
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
180180
{
181181
title: 'Air gap volume (µL)',
182-
error: 'Value must be between 1-140',
182+
error: 'Value must be between 1 to 140',
183183
readOnly: true,
184184
type: 'number',
185185
value: 0,
@@ -204,7 +204,7 @@ describe('AirGap', () => {
204204
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
205205
{
206206
title: 'Air gap volume (µL)',
207-
error: 'Value must be between 1-200',
207+
error: 'Value must be between 1 to 200',
208208
readOnly: true,
209209
type: 'number',
210210
value: 0,

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

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -132,7 +132,7 @@ describe('Delay', () => {
132132
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
133133
{
134134
title: 'Delay duration (seconds)',
135-
error: 'Value must be between 1-9999999999',
135+
error: 'Value must be between 1 to 9999999999',
136136
readOnly: true,
137137
type: 'number',
138138
value: 0,
@@ -158,7 +158,7 @@ describe('Delay', () => {
158158
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
159159
{
160160
title: 'Delay position from bottom of well (mm)',
161-
error: 'Value must be between 1-100',
161+
error: 'Value must be between 1 to 100',
162162
readOnly: true,
163163
type: 'number',
164164
value: 0,
@@ -188,7 +188,7 @@ describe('Delay', () => {
188188
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
189189
{
190190
title: 'Delay position from bottom of well (mm)',
191-
error: 'Value must be between 1-400',
191+
error: 'Value must be between 1 to 400',
192192
readOnly: true,
193193
type: 'number',
194194
value: 0,

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

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -133,7 +133,7 @@ describe('FlowRate', () => {
133133
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
134134
{
135135
title: 'Aspirate flow rate (µL/s)',
136-
error: 'Value must be between 1-92',
136+
error: 'Value must be between 1 to 92',
137137
readOnly: true,
138138
type: 'number',
139139
value: 0,

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -132,7 +132,7 @@ describe('Mix', () => {
132132
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
133133
{
134134
title: 'Mix volume (µL)',
135-
error: 'Value must be between 1-200',
135+
error: 'Value must be between 1 to 200',
136136
readOnly: true,
137137
type: 'number',
138138
value: 0,
@@ -158,7 +158,7 @@ describe('Mix', () => {
158158
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
159159
{
160160
title: 'Mix repetitions',
161-
error: 'Value must be between 1-999',
161+
error: 'Value must be between 1 to 999',
162162
readOnly: true,
163163
type: 'number',
164164
value: 0,

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

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -196,7 +196,7 @@ describe('PipettePath', () => {
196196
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
197197
{
198198
title: 'Disposal volume (µL)',
199-
error: 'Value must be between 1-160',
199+
error: 'Value must be between 1 to 160',
200200
readOnly: true,
201201
type: 'number',
202202
value: 201,

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -130,7 +130,7 @@ describe('TipPosition', () => {
130130
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
131131
{
132132
title: 'Distance from bottom of well (mm)',
133-
error: 'Value must be between 1-100',
133+
error: 'Value must be between 1 to 100',
134134
readOnly: true,
135135
type: 'text',
136136
value: 0,
@@ -153,7 +153,7 @@ describe('TipPosition', () => {
153153
expect(vi.mocked(InputField)).toHaveBeenCalledWith(
154154
{
155155
title: 'Distance from bottom of well (mm)',
156-
error: 'Value must be between 1-400',
156+
error: 'Value must be between 1 to 400',
157157
readOnly: true,
158158
type: 'text',
159159
value: 0,

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