fix(hardware-testin) added no backoff home function to helpers (#14397)

* added no backoff home function to helpers, qc script jaws home with no backoff * add test 1ul * Update dispense submerge to 3.0 * format --------- Co-authored-by: David Gomez <[email protected]> Co-authored-by: wweiye <[email protected]> Co-authored-by: Jerome <[email protected]>
Opentrons · Jan 31, 2024 · 7272cb5 · 7272cb5
1 parent 7771d56
commit 7272cb5
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Showing 4 changed files with 29 additions and 19 deletions.
diff --git a/hardware-testing/hardware_testing/gravimetric/config.py b/hardware-testing/hardware_testing/gravimetric/config.py
@@ -367,6 +367,9 @@ def _get_liquid_probe_settings(
     96: {
         1000: {  # P1000
             50: {  # T50
+                1.0: (2.5, 2.0),
+                2.0: (2.5, 2.0),
+                3.0: (2.5, 2.0),
                 5.0: (2.5, 2.0),
                 10.0: (3.1, 1.7),
                 50.0: (1.5, 0.75),

diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py
@@ -11,6 +11,8 @@
 _default_submerge_aspirate_mm = 1.5
 _p50_multi_submerge_aspirate_mm = 1.5
 _default_submerge_dispense_mm = 1.5
+_96_default_submerge_aspirate_mm = 2.5
+_96_default_submerge_dispense_mm = 3.0
 _default_retract_mm = 5.0
 _default_retract_discontinuity = 20
 
@@ -271,7 +273,7 @@
         1000: {  # P1000
             50: {  # T50
                 5: DispenseSettings(  # 5uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_96_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_dispense_delay_seconds,
@@ -280,7 +282,7 @@
                     blow_out_submerged=5,
                 ),
                 10: DispenseSettings(  # 10uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_96_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_dispense_delay_seconds,
@@ -289,7 +291,7 @@
                     blow_out_submerged=5,
                 ),
                 50: DispenseSettings(  # 50uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_96_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_dispense_delay_seconds,
@@ -300,7 +302,7 @@
             },
             200: {  # T200
                 5: DispenseSettings(  # 5uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_96_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_dispense_delay_seconds,
@@ -309,7 +311,7 @@
                     blow_out_submerged=5,
                 ),
                 50: DispenseSettings(  # 50uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_96_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_dispense_delay_seconds,
@@ -318,7 +320,7 @@
                     blow_out_submerged=5,
                 ),
                 200: DispenseSettings(  # 200uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_96_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_dispense_delay_seconds,
@@ -329,7 +331,7 @@
             },
             1000: {  # T1000
                 10: DispenseSettings(  # 10uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_96_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_dispense_delay_seconds,
@@ -338,7 +340,7 @@
                     blow_out_submerged=20,
                 ),
                 100: DispenseSettings(  # 100uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_96_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_dispense_delay_seconds,
@@ -347,7 +349,7 @@
                     blow_out_submerged=20,
                 ),
                 1000: DispenseSettings(  # 1000uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_96_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_dispense_delay_seconds,
@@ -633,7 +635,7 @@
         1000: {  # P1000
             50: {  # T50
                 5: AspirateSettings(  # 5uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_96_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=6.5,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -643,7 +645,7 @@
                     trailing_air_gap=0.1,
                 ),
                 10: AspirateSettings(  # 10uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_96_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=6.5,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -653,7 +655,7 @@
                     trailing_air_gap=0.1,
                 ),
                 50: AspirateSettings(  # 50uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_96_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=6.5,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -665,7 +667,7 @@
             },
             200: {  # T200
                 5: AspirateSettings(  # 5uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_96_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -675,7 +677,7 @@
                     trailing_air_gap=2,
                 ),
                 50: AspirateSettings(  # 50uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_96_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -685,7 +687,7 @@
                     trailing_air_gap=3.5,
                 ),
                 200: AspirateSettings(  # 200uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_96_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=80,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -697,7 +699,7 @@
             },
             1000: {  # T1000
                 10: AspirateSettings(  # 10uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_96_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=160,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -707,7 +709,7 @@
                     trailing_air_gap=10,
                 ),
                 100: AspirateSettings(  # 100uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_96_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=160,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -717,7 +719,7 @@
                     trailing_air_gap=10,
                 ),
                 1000: AspirateSettings(  # 1000uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_96_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=160,  # ul/sec
                     delay=_default_aspirate_delay_seconds,

diff --git a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
@@ -599,6 +599,11 @@ async def move_plunger_absolute_ot3(
             await _move_coro
 
 
+async def home_tip_motors(api: OT3API, back_off: bool = True) -> None:
+    """Homes the tip motors with backoff option broken out."""
+    await api._backend.home_tip_motors(distance=50, velocity=5, back_off=back_off)
+
+
 async def move_tip_motor_relative_ot3(
     api: OT3API,
     distance: float,

diff --git a/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_jaws.py b/hardware-testing/hardware_testing/production_qc/ninety_six_assembly_qc_ot3/test_jaws.py
@@ -74,7 +74,7 @@ async def jaw_precheck(api: OT3API, ax: Axis, speed: float) -> Tuple[bool, bool]
     """Check the LEDs work and jaws are aligned."""
     # HOME
     print("homing...")
-    await api.home([ax])
+    await helpers_ot3.home_tip_motors(api, False)  # Home with no backoff
     # Check LEDs can turn on when homed
     if not api.is_simulator:
         led_check = ui.get_user_answer("are both endstop Lights ON?")