Merge branch 'edge' into pd-build-and-test-speedup

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/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,

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

@@ -196,7 +196,7 @@ describe('PipettePath', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Disposal volume (µL)',
-        error: 'Value must be between 1-160',
+        error: 'Value must be between 1 to 160',
         readOnly: true,
         type: 'number',
         value: 201,

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

@@ -130,7 +130,7 @@ describe('TipPosition', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Distance from bottom of well (mm)',
-        error: 'Value must be between 1-100',
+        error: 'Value must be between 1 to 100',
         readOnly: true,
         type: 'text',
         value: 0,
@@ -153,7 +153,7 @@ describe('TipPosition', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Distance from bottom of well (mm)',
-        error: 'Value must be between 1-400',
+        error: 'Value must be between 1 to 400',
         readOnly: true,
         type: 'text',
         value: 0,

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

@@ -110,11 +110,11 @@ describe('TouchTip', () => {
     fireEvent.click(continueBtn)
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
-        title: 'Touch tip position from bottom of well (mm)',
+        title: 'Touch tip position from top of well (mm)',
         error: null,
         readOnly: true,
-        type: 'number',
-        value: null,
+        type: 'text',
+        value: '',
       },
       {}
     )
@@ -136,15 +136,19 @@ describe('TouchTip', () => {
     fireEvent.click(enabledBtn)
     const continueBtn = screen.getByText('Continue')
     fireEvent.click(continueBtn)
-    const numButton = screen.getByText('0')
+    const negButton = screen.getByText('-')
+    fireEvent.click(negButton)
+    const numButton = screen.getByText('9')
     fireEvent.click(numButton)
+    const secondNumButton = screen.getByText('8')
+    fireEvent.click(secondNumButton)
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
-        title: 'Touch tip position from bottom of well (mm)',
-        error: 'Value must be between 25-50',
+        title: 'Touch tip position from top of well (mm)',
+        error: 'Value must be between -25 to 0',
         readOnly: true,
-        type: 'number',
-        value: 0,
+        type: 'text',
+        value: '-98',
       },
       {}
     )
@@ -162,15 +166,15 @@ describe('TouchTip', () => {
     fireEvent.click(enabledBtn)
     const continueBtn = screen.getByText('Continue')
     fireEvent.click(continueBtn)
-    const numButton = screen.getByText('0')
+    const numButton = screen.getByText('1')
     fireEvent.click(numButton)
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
-        title: 'Touch tip position from bottom of well (mm)',
-        error: 'Value must be between 100-200',
+        title: 'Touch tip position from top of well (mm)',
+        error: 'Value must be between -100 to 0',
         readOnly: true,
-        type: 'number',
-        value: 0,
+        type: 'text',
+        value: '1',
       },
       {}
     )
@@ -184,7 +188,7 @@ describe('TouchTip', () => {
     fireEvent.click(enabledBtn)
     const continueBtn = screen.getByText('Continue')
     fireEvent.click(continueBtn)
-    const numButton = screen.getByText('4')
+    const numButton = screen.getByText('0')
     fireEvent.click(numButton)
     fireEvent.click(numButton)
     const saveBtn = screen.getByText('Save')
@@ -198,19 +202,19 @@ describe('TouchTip', () => {
       ...props,
       state: {
         ...props.state,
-        touchTipAspirate: 32,
+        touchTipAspirate: -25,
       },
     }
     render(props)
     const continueBtn = screen.getByText('Continue')
     fireEvent.click(continueBtn)
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
-        title: 'Touch tip position from bottom of well (mm)',
+        title: 'Touch tip position from top of well (mm)',
         error: null,
         readOnly: true,
-        type: 'number',
-        value: 32,
+        type: 'text',
+        value: '-25',
       },
       {}
     )
@@ -222,19 +226,19 @@ describe('TouchTip', () => {
       kind: 'dispense',
       state: {
         ...props.state,
-        touchTipDispense: 118,
+        touchTipDispense: -8,
       },
     }
     render(props)
     const continueBtn = screen.getByText('Continue')
     fireEvent.click(continueBtn)
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
-        title: 'Touch tip position from bottom of well (mm)',
+        title: 'Touch tip position from top of well (mm)',
         error: null,
         readOnly: true,
-        type: 'number',
-        value: 118,
+        type: 'text',
+        value: '-8',
       },
       {}
     )

app/src/organisms/ODD/QuickTransferFlow/__tests__/VolumeEntry.test.tsx

@@ -161,7 +161,7 @@ describe('VolumeEntry', () => {
     expect(vi.mocked(InputField)).toHaveBeenCalledWith(
       {
         title: 'Aspirate volume per well (µL)',
-        error: 'Value must be between 5-50',
+        error: 'Value must be between 5 to 50',
         readOnly: true,
         type: 'text',
         value: '90',