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kojikoji
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Merge branch 'edge' into refactor_protocol-designer-phase-1
2 parents fa52851 + 047dd21 commit 8209eb0

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‎abr-testing/abr_testing/protocols/helpers.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -514,7 +514,7 @@ def find_liquid_height(pipette: InstrumentContext, well_to_probe: Well) -> float
514514
)
515515
except PipetteLiquidNotFoundError:
516516
liquid_height = 0
517-
return liquid_height
517+
return liquid_height if isinstance(liquid_height, (float, int)) else 0
518518

519519

520520
def load_wells_with_custom_liquids(

‎abr-testing/abr_testing/protocols/test_protocols/IDT xGen 96ch.py

+5-4
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,5 @@
11
"""IDT xGEn 96x with Flex Stacker."""
2+
23
from opentrons.protocol_api import ProtocolContext, ParameterContext
34
from abr_testing.protocols import helpers
45
from typing import List
@@ -106,18 +107,18 @@ def run(protocol: ProtocolContext) -> None:
106107
stacker_200_ul_tips: FlexStackerContext = protocol.load_module(
107108
"flexStackerModuleV1", "B4"
108109
) # type: ignore[assignment]
109-
stacker_200_ul_tips.load_labware_to_hopper(
110+
stacker_200_ul_tips.set_stored_labware(
110111
load_name="opentrons_flex_96_tiprack_200ul",
111-
quantity=6,
112112
lid="opentrons_flex_tiprack_lid",
113+
count=6,
113114
)
114115
stacker_50_ul_tips: FlexStackerContext = protocol.load_module(
115116
"flexStackerModuleV1", "C4"
116117
) # type: ignore[assignment]
117-
stacker_50_ul_tips.load_labware_to_hopper(
118+
stacker_50_ul_tips.set_stored_labware(
118119
load_name="opentrons_flex_96_tiprack_50ul",
119-
quantity=6,
120120
lid="opentrons_flex_tiprack_lid",
121+
count=6,
121122
)
122123

123124
# ========== FIRST ROW ===========

‎abr-testing/abr_testing/protocols/test_protocols/Illumina RNA all parts.py

+17-38
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,5 @@
11
"""Illumina RNA Enrichment 96x Flex Stacker."""
2+
23
from opentrons.protocol_api import ProtocolContext, ParameterContext, OFF_DECK
34
from opentrons import types
45
from opentrons.protocol_api import COLUMN, ALL, Labware
@@ -226,8 +227,10 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
226227
stacker_200_1: FlexStackerContext = protocol.load_module(
227228
"flexStackerModuleV1", "A4"
228229
) # type: ignore[assignment]
229-
stacker_200_1.load_labware_to_hopper(
230-
"opentrons_flex_96_tiprack_200ul", quantity=6, lid="opentrons_flex_tiprack_lid"
230+
stacker_200_1.set_stored_labware(
231+
load_name="opentrons_flex_96_tiprack_200ul",
232+
lid="opentrons_flex_tiprack_lid",
233+
count=6,
231234
)
232235
tiprack_A3_adapter = protocol.load_adapter(
233236
"opentrons_flex_96_tiprack_adapter", "A3"
@@ -241,17 +244,21 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
241244
stacker_200_2: FlexStackerContext = protocol.load_module(
242245
"flexStackerModuleV1", "B4"
243246
) # type: ignore[assignment]
244-
stacker_200_2.load_labware_to_hopper(
245-
"opentrons_flex_96_tiprack_200ul", quantity=6, lid="opentrons_flex_tiprack_lid"
247+
stacker_200_2.set_stored_labware(
248+
load_name="opentrons_flex_96_tiprack_200ul",
249+
lid="opentrons_flex_tiprack_lid",
250+
count=6,
246251
)
247252
lids = protocol.load_lid_stack("opentrons_tough_pcr_auto_sealing_lid", "B3", 5)
248253

249254
# ========== THIRD ROW ===========
250255
stacker_50_1: FlexStackerContext = protocol.load_module(
251256
"flexStackerModuleV1", "C4"
252257
) # type: ignore[assignment]
253-
stacker_50_1.load_labware_to_hopper(
254-
"opentrons_flex_96_tiprack_50ul", quantity=6, lid="opentrons_flex_tiprack_lid"
258+
stacker_50_1.set_stored_labware(
259+
load_name="opentrons_flex_96_tiprack_50ul",
260+
lid="opentrons_flex_tiprack_lid",
261+
count=6,
255262
)
256263
if ONDECK_TEMP:
257264
temp_block: TemperatureModuleContext = protocol.load_module(
@@ -275,8 +282,10 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
275282
stacker_50_2: FlexStackerContext = protocol.load_module(
276283
"flexStackerModuleV1", "D4"
277284
) # type: ignore[assignment]
278-
stacker_50_2.load_labware_to_hopper(
279-
"opentrons_flex_96_tiprack_50ul", quantity=6, lid="opentrons_flex_tiprack_lid"
285+
stacker_50_2.set_stored_labware(
286+
load_name="opentrons_flex_96_tiprack_50ul",
287+
lid="opentrons_flex_tiprack_lid",
288+
count=6,
280289
)
281290
TRASH = protocol.load_waste_chute()
282291
LW_reservoir = protocol.load_labware(
@@ -288,7 +297,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
288297
CleanupPlate_1 = mag_block.load_labware(
289298
"nest_96_wellplate_2ml_deep", "Cleanup Plate 1"
290299
)
291-
stacker_50_2.enter_static_mode()
292300
CleanupPlate_2 = stacker_50_2.load_labware(
293301
"nest_96_wellplate_2ml_deep", "Cleanup Plate 2"
294302
)
@@ -458,7 +466,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
458466
)
459467
protocol.comment("MOVING: tiprack_50_SCP_2 = D4 --> SCP_Position")
460468
protocol.move_labware(CleanupPlate_2, stacker_200_1, use_gripper=True)
461-
stacker_50_2.exit_static_mode()
462469
tiprack_50_SCP_2 = stacker_50_2.retrieve()
463470
protocol.move_lid(tiprack_50_SCP_2, TRASH, use_gripper=True)
464471
protocol.move_labware(
@@ -606,7 +613,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
606613
use_gripper=False,
607614
)
608615
protocol.comment("MOVING: CleanupPlate_1 = mag_block --> D4")
609-
stacker_50_2.enter_static_mode()
610616
protocol.move_labware(
611617
labware=CleanupPlate_1,
612618
new_location=stacker_50_2,
@@ -911,20 +917,17 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
911917
use_gripper=False,
912918
)
913919
protocol.comment("MOVING: CleanupPlate_1 = D4 --> A4")
914-
stacker_200_1.enter_static_mode()
915920
protocol.move_labware(
916921
labware=CleanupPlate_1, new_location=stacker_200_1, use_gripper=True
917922
)
918923
protocol.comment("MOVING: tiprack_200_X = SCP_Position --> B4")
919-
stacker_200_2.enter_static_mode()
920924
protocol.move_labware(
921925
labware=tiprack_200_X,
922926
new_location=tiprack_A3_adapter,
923927
use_gripper=True,
924928
)
925929

926930
protocol.comment("DISPENSING: tiprack_50_SCP_4 = #3--> D4")
927-
stacker_50_2.exit_static_mode()
928931
tiprack_50_SCP_4 = stacker_50_2.retrieve()
929932
protocol.move_lid(tiprack_50_SCP_4, TRASH, use_gripper=True)
930933
protocol.comment("MOVING: tiprack_50_SCP_4 = D4 --> tiprack_A3_adapter")
@@ -1165,7 +1168,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
11651168
drop_offset=deck_drop_offset,
11661169
)
11671170
protocol.comment("MOVING: CleanupPlate_1 = A4 --> D4")
1168-
# stacker_50_2.enter_static_mode()
11691171
protocol.move_labware(
11701172
labware=CleanupPlate_1,
11711173
new_location=stacker_50_2,
@@ -1174,9 +1176,7 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
11741176
drop_offset=deck_drop_offset,
11751177
)
11761178
protocol.comment("DISPENSING: tiprack_200_5 = #3--> A4")
1177-
stacker_200_1.enter_static_mode()
11781179
protocol.move_labware(CleanupPlate_2, stacker_200_1, use_gripper=True)
1179-
stacker_200_2.exit_static_mode()
11801180
tiprack_200_5 = stacker_200_2.retrieve()
11811181
protocol.move_lid(tiprack_200_5, TRASH, use_gripper=True)
11821182
protocol.move_labware(
@@ -1243,9 +1243,7 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
12431243
use_gripper=False,
12441244
)
12451245
protocol.comment("DISPENSING: tiprack_200_6 = #4--> A4")
1246-
stacker_200_2.enter_static_mode()
12471246
protocol.move_labware(CleanupPlate_2, stacker_200_2, use_gripper=True)
1248-
stacker_200_1.exit_static_mode()
12491247
tiprack_200_6 = stacker_200_1.retrieve()
12501248
protocol.move_lid(tiprack_200_6, TRASH, use_gripper=True)
12511249
protocol.move_labware(
@@ -1312,7 +1310,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
13121310
use_gripper=False,
13131311
)
13141312
protocol.comment("DISPENSING: tiprack_200_7 = #5--> A4")
1315-
stacker_200_1.exit_static_mode()
13161313
tiprack_200_7 = stacker_200_1.retrieve()
13171314
protocol.move_lid(tiprack_200_7, TRASH, use_gripper=True)
13181315
protocol.move_labware(
@@ -1377,7 +1374,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
13771374
use_gripper=False,
13781375
)
13791376
protocol.comment("DISPENSING: tiprack_200_8 = #6--> A4")
1380-
stacker_200_1.exit_static_mode()
13811377
tiprack_200_8 = stacker_200_1.retrieve()
13821378
protocol.move_lid(tiprack_200_8, TRASH, use_gripper=True)
13831379
protocol.move_labware(
@@ -1426,7 +1422,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
14261422
use_gripper=False,
14271423
)
14281424
protocol.comment("MOVING: CleanupPlate_1 = D4 --> A4")
1429-
stacker_200_1.enter_static_mode()
14301425
protocol.move_labware(
14311426
labware=CleanupPlate_1,
14321427
new_location=stacker_200_1,
@@ -1435,7 +1430,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
14351430
drop_offset=deck_drop_offset,
14361431
)
14371432
protocol.comment("DISPENSING: tiprack_50_7 = #6--> D4")
1438-
stacker_50_2.exit_static_mode()
14391433
tiprack_50_7 = stacker_50_2.retrieve()
14401434
protocol.move_lid(tiprack_50_7, TRASH, use_gripper=True)
14411435
protocol.comment("MOVING: tiprack_50_7 = D4 --> tiprack_A3_adapter")
@@ -1503,7 +1497,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
15031497
pick_up_offset=deck_pick_up_offset,
15041498
drop_offset=mb_drop_offset,
15051499
)
1506-
stacker_50_2.exit_static_mode()
15071500
# ============================================================================================
15081501

15091502
protocol.comment("--> TRANSFERRING AND ADDING AMPure (0.8x)")
@@ -1549,9 +1542,7 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
15491542
use_gripper=False,
15501543
)
15511544
protocol.comment("DISPENSING: tiprack_200_9 = #2--> B4")
1552-
stacker_200_1.enter_static_mode()
15531545
protocol.move_labware(CleanupPlate_2, stacker_200_1, use_gripper=True)
1554-
stacker_200_2.exit_static_mode()
15551546
tiprack_200_9 = stacker_200_2.retrieve()
15561547
protocol.move_lid(tiprack_200_9, TRASH, use_gripper=True)
15571548
protocol.comment("MOVING: tiprack_200_9 = B4 --> tiprack_A3_adapter")
@@ -1614,7 +1605,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
16141605
use_gripper=False,
16151606
)
16161607
protocol.comment("DISPENSING: tiprack_200_10 = #3--> B4")
1617-
stacker_200_2.exit_static_mode()
16181608
tiprack_200_10 = stacker_200_2.retrieve()
16191609
protocol.move_lid(tiprack_200_10, TRASH, use_gripper=True)
16201610
protocol.comment("MOVING: tiprack_200_10 = B4 --> tiprack_A3_adapter")
@@ -1677,7 +1667,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
16771667
use_gripper=False,
16781668
)
16791669
protocol.comment("DISPENSING: tiprack_200_11 = #4--> B4")
1680-
stacker_200_2.exit_static_mode()
16811670
tiprack_200_11 = stacker_200_2.retrieve()
16821671
protocol.move_lid(tiprack_200_11, TRASH, use_gripper=True)
16831672
protocol.comment("MOVING: tiprack_200_11 = B4 --> tiprack_A3_adapter")
@@ -1733,7 +1722,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
17331722
)
17341723

17351724
protocol.comment("MOVING: CleanupPlate_2 = C4 --> A4")
1736-
stacker_50_2.enter_static_mode()
17371725
protocol.move_labware(
17381726
labware=CleanupPlate_2,
17391727
new_location=stacker_50_2,
@@ -1742,7 +1730,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
17421730
drop_offset=deck_drop_offset,
17431731
)
17441732
protocol.comment("DISPENSING: tiprack_50_SCP_9 = #3--> C4")
1745-
stacker_50_1.exit_static_mode()
17461733
tiprack_50_SCP_9 = stacker_50_1.retrieve()
17471734
protocol.move_lid(tiprack_50_SCP_9, TRASH, use_gripper=True)
17481735
protocol.comment("MOVING: tiprack_50_SCP_9 = C4 --> SCP_Position")
@@ -1794,9 +1781,7 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
17941781
use_gripper=False,
17951782
)
17961783
protocol.comment("DISPENSING: tiprack_50_SCP_10 = #4--> C4")
1797-
stacker_200_1.enter_static_mode()
17981784
protocol.move_labware(CleanupPlate_2, stacker_200_1, use_gripper=True)
1799-
stacker_50_1.exit_static_mode()
18001785
tiprack_50_SCP_10 = stacker_50_1.retrieve()
18011786
protocol.move_lid(tiprack_50_SCP_10, TRASH, use_gripper=True)
18021787
protocol.comment("MOVING: tiprack_50_SCP_10 = C4 --> SCP_Position")
@@ -1876,7 +1861,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
18761861
use_gripper=False,
18771862
)
18781863
protocol.comment("DISPENSING: tiprack_50_SCP_10 = #5--> C4")
1879-
stacker_50_1.exit_static_mode()
18801864
tiprack_50_X = stacker_50_1.retrieve()
18811865
protocol.move_lid(tiprack_50_X, TRASH, use_gripper=True)
18821866
protocol.comment("MOVING: tiprack_50_X = C4 --> SCP_Position")
@@ -1986,7 +1970,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
19861970
thermocycler.set_lid_temperature(58)
19871971
# ============================================================================================
19881972
protocol.comment("MOVING: tiprack_50_X = SCP_Position --> C4")
1989-
stacker_50_1.enter_static_mode()
19901973
protocol.move_labware(
19911974
labware=tiprack_50_X,
19921975
new_location=stacker_50_1,
@@ -2175,7 +2158,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
21752158
use_gripper=False,
21762159
)
21772160
protocol.comment("DISPENSING: tiprack_200_XX = #5--> B4")
2178-
stacker_200_2.exit_static_mode()
21792161
tiprack_200_XX = stacker_200_2.retrieve()
21802162
protocol.move_lid(tiprack_200_XX, TRASH, use_gripper=True)
21812163
protocol.comment("MOVING: tiprack_200_XX = B4 --> SCP_Position")
@@ -2346,7 +2328,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
23462328

23472329
# ============================================================================================
23482330
protocol.comment("MOVING: tiprack_200_XX = SCP_Position --> A4")
2349-
stacker_200_1.enter_static_mode()
23502331
protocol.move_labware(
23512332
labware=tiprack_200_XX,
23522333
new_location=stacker_200_1,
@@ -2522,7 +2503,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
25222503

25232504
# ============================================================================================
25242505
protocol.comment("MOVING: tiprack_50_X = SCP_Position --> B4")
2525-
stacker_200_2.enter_static_mode()
25262506
protocol.move_labware(
25272507
labware=tiprack_50_X,
25282508
new_location=stacker_200_2,
@@ -2670,7 +2650,6 @@ def nozzlecheck(nozzletype: str, tip_rack: Labware) -> None:
26702650

26712651
# ============================================================================================
26722652
protocol.comment("MOVING: tiprack_200_XX = SCP_Position --> A4")
2673-
stacker_200_1.enter_static_mode()
26742653
protocol.move_labware(
26752654
labware=tiprack_200_XX,
26762655
new_location=stacker_200_1,

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

+1
Original file line numberDiff line numberDiff line change
@@ -307,6 +307,7 @@ async def create(
307307
loop=loop,
308308
error_keyword=FS_ERROR_KEYWORD,
309309
async_error_ack=FS_ASYNC_ERROR_ACK,
310+
reset_buffer_before_write=True,
310311
error_codes=StackerErrorCodes,
311312
)
312313
return cls(connection)

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