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refactor(step-generation, protocol-designer): atomic command args to … (
#17324) …match command params AUTH-1361 This is Pt2 of refactoring the atomic command args to match command params. all the module atomic commands were updated in pt1 so this refactors the remaining atomic commands
- protocol-designer@8.4.2
- protocol-designer@8.4.2-alpha.0
- protocol-designer@8.4.0
- protocol-designer@8.4.0-alpha.5
- protocol-designer@8.4.0-alpha.4
- protocol-designer@8.4.0-alpha.3
- protocol-designer@8.4.0-alpha.2
- protocol-designer@8.4.0-alpha.1
- protocol-designer@8.4.0-alpha.0
- ot3@2.4.0-alpha.2
- ot3@2.4.0-alpha.1
- ot3@2.4.0-alpha.0
- labware-library@3.2.0
- labware-library@3.2.0-alpha.0
- flex-stacker-2025.2.14-build
- docs@2.22
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7 changes: 2 additions & 5 deletions
7
step-generation/src/commandCreators/atomic/configureForVolume.ts
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17 changes: 4 additions & 13 deletions
17
step-generation/src/commandCreators/atomic/configureNozzleLayout.ts
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9 changes: 2 additions & 7 deletions
9
step-generation/src/commandCreators/atomic/moveToAddressableAreaForDropTip.ts
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,72 @@ | ||
import { COLUMN } from '@opentrons/shared-data' | ||
import { | ||
pipettingIntoColumn4, | ||
possiblePipetteCollision, | ||
} from '../../errorCreators' | ||
import { COLUMN_4_SLOTS } from '../../constants' | ||
import { uuid, getIsSafePipetteMovement } from '../../utils' | ||
import type { | ||
NozzleConfigurationStyle, | ||
PickUpTipParams, | ||
} from '@opentrons/shared-data' | ||
import type { CommandCreator, CommandCreatorError } from '../../types' | ||
|
||
interface PickUpTipAtomicParams extends PickUpTipParams { | ||
nozzles?: NozzleConfigurationStyle | ||
} | ||
|
||
export const pickUpTip: CommandCreator<PickUpTipAtomicParams> = ( | ||
args, | ||
invariantContext, | ||
prevRobotState | ||
) => { | ||
const { pipetteId, labwareId, wellName, nozzles } = args | ||
const errors: CommandCreatorError[] = [] | ||
|
||
const is96Channel = | ||
invariantContext.pipetteEntities[pipetteId]?.spec.channels === 96 | ||
|
||
if ( | ||
is96Channel && | ||
nozzles === COLUMN && | ||
!getIsSafePipetteMovement( | ||
prevRobotState, | ||
invariantContext, | ||
pipetteId, | ||
labwareId, | ||
labwareId, | ||
// we don't adjust the offset when moving to the tiprack | ||
{ x: 0, y: 0 }, | ||
wellName | ||
) | ||
) { | ||
errors.push(possiblePipetteCollision()) | ||
} | ||
|
||
const tiprackSlot = prevRobotState.labware[labwareId].slot | ||
if (COLUMN_4_SLOTS.includes(tiprackSlot)) { | ||
errors.push(pipettingIntoColumn4({ typeOfStep: 'pick up tip' })) | ||
} else if (prevRobotState.labware[tiprackSlot] != null) { | ||
const adapterSlot = prevRobotState.labware[tiprackSlot].slot | ||
if (COLUMN_4_SLOTS.includes(adapterSlot)) { | ||
errors.push(pipettingIntoColumn4({ typeOfStep: 'pick up tip' })) | ||
} | ||
} | ||
|
||
if (errors.length > 0) { | ||
return { errors } | ||
} | ||
return { | ||
commands: [ | ||
{ | ||
commandType: 'pickUpTip', | ||
key: uuid(), | ||
params: { | ||
pipetteId, | ||
labwareId, | ||
wellName, | ||
}, | ||
}, | ||
], | ||
} | ||
} |
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