rebase w hw control stuff

Author: caila-marashaj

api/src/opentrons/protocol_engine/execution/pipetting.py

@@ -191,14 +191,13 @@ async def aspirate_while_tracking(
             raise InvalidLiquidHeightFound(
                 "Aspirate distance must be a float in Hardware pipetting handler."
             )
-        # uncomment this when hw control pr gets merged
-        # with self._set_flow_rate(pipette=hw_pipette, aspirate_flow_rate=flow_rate):
-        #     await self._hardware_api.aspirate_while_tracking(
-        #         mount=hw_pipette.mount,
-        #         z_distance=aspirate_z_distance,
-        #         flow_rate=flow_rate,
-        #         volume=adjusted_volume,
-        #     )
+        with self._set_flow_rate(pipette=hw_pipette, aspirate_flow_rate=flow_rate):
+            await self._hardware_api.aspirate_while_tracking(
+                mount=hw_pipette.mount,
+                z_distance=aspirate_z_distance,
+                flow_rate=flow_rate,
+                volume=adjusted_volume,
+            )
         return adjusted_volume
 
     async def dispense_while_tracking(
@@ -226,15 +225,14 @@ async def dispense_while_tracking(
             raise InvalidLiquidHeightFound(
                 "Dispense distance must be a float in Hardware pipetting handler."
             )
-        # uncomment this when hw control pr gets merged
-        # with self._set_flow_rate(pipette=hw_pipette, dispense_flow_rate=flow_rate):
-        #     await self._hardware_api.dispense_while_tracking(
-        #         mount=hw_pipette.mount,
-        #         z_distance=dispense_z_distance,
-        #         flow_rate=flow_rate,
-        #         volume=adjusted_volume,
-        #         push_out=push_out,
-        #     )
+        with self._set_flow_rate(pipette=hw_pipette, dispense_flow_rate=flow_rate):
+            await self._hardware_api.dispense_while_tracking(
+                mount=hw_pipette.mount,
+                z_distance=dispense_z_distance,
+                flow_rate=flow_rate,
+                volume=adjusted_volume,
+                push_out=push_out,
+            )
         return adjusted_volume
 
     async def aspirate_in_place(

api/tests/opentrons/protocol_engine/commands/test_aspirate_while_tracking.py

@@ -4,8 +4,6 @@
 
 import pytest
 from decoy import Decoy, matchers
-from mock import AsyncMock, patch
-from typing import Iterator
 
 from opentrons_shared_data.errors.exceptions import PipetteOverpressureError
 
@@ -17,7 +15,6 @@
     GantryMover,
     MovementHandler,
 )
-from opentrons.protocol_engine.commands.movement_common import move_to_well
 from opentrons.protocol_engine.commands.aspirate_while_tracking import (
     AspirateWhileTrackingParams,
     AspirateWhileTrackingResult,
@@ -39,7 +36,6 @@
     WellOrigin,
     WellOffset,
     DeckPoint,
-    WellLocation,
 )
 from opentrons.protocol_engine.state import update_types
 

api/tests/opentrons/protocol_engine/state/test_geometry_view.py

@@ -4307,6 +4307,7 @@ def test_get_liquid_handling_z_change(
     mock_labware_view: LabwareView,
     mock_well_view: WellView,
 ) -> None:
+    """Test for get_liquid_handling_z_change math."""
     decoy.when(mock_labware_view.get_well_definition("labware-id", "A1")).then_return(
         RectangularWellDefinition3.model_construct(totalLiquidVolume=1100000)  # type: ignore[call-arg]
     )