always specify waste chute drop tip location

Author: jerader

step-generation/src/__tests__/dropTipInWasteChute.test.ts

@@ -26,44 +26,6 @@ const prevRobotState: RobotState = {
 
 describe('dropTipInWasteChute', () => {
   it('returns correct commands for drop tip in waste chute', () => {
-    const args = {
-      pipetteId: DEFAULT_PIPETTE,
-      wasteChuteId: mockWasteChuteId,
-    }
-    const result = dropTipInWasteChute(args, invariantContext, prevRobotState)
-    expect(getSuccessResult(result).commands).toEqual([
-      {
-        commandType: 'moveToAddressableArea',
-        key: expect.any(String),
-        params: {
-          pipetteId: DEFAULT_PIPETTE,
-          addressableAreaName: '1ChannelWasteChute',
-          offset: { x: 0, y: 0, z: 0 },
-        },
-      },
-      {
-        commandType: 'dropTipInPlace',
-        key: expect.any(String),
-        params: {
-          pipetteId: DEFAULT_PIPETTE,
-        },
-      },
-    ])
-    expect(getSuccessResult(result).python).toBe('mockPythonName.drop_tip()')
-  })
-  it('returns correct commands for drop tip in waste chute when trash bin also exists', () => {
-    const mockTrashId = 'mockTrashId'
-    invariantContext = {
-      ...invariantContext,
-      additionalEquipmentEntities: {
-        ...invariantContext.additionalEquipmentEntities,
-        [mockTrashId]: {
-          name: 'trashBin',
-          location: 'cutoutA3',
-          id: mockTrashId,
-        },
-      },
-    }
     const args = {
       pipetteId: DEFAULT_PIPETTE,
       wasteChuteId: mockWasteChuteId,

step-generation/src/commandCreators/compound/dropTipInWasteChute.ts

@@ -24,10 +24,6 @@ export const dropTipInWasteChute: CommandCreator<DropTipInWasteChuteArgs> = (
   const addressableAreaName = getWasteChuteAddressableAreaNamePip(
     pipetteChannels
   )
-  const hasTrashBin =
-    Object.values(additionalEquipmentEntities).find(
-      ae => ae.name === 'trashBin'
-    ) != null
 
   let commandCreators: CurriedCommandCreator[] = []
 
@@ -38,15 +34,9 @@ export const dropTipInWasteChute: CommandCreator<DropTipInWasteChuteArgs> = (
     const pipettePythonName = pipetteEntities[pipetteId].pythonName
     const wasteChutePythonName =
       additionalEquipmentEntities[wasteChuteId].pythonName
-    //  if there is no trash bin selected, drop tip will occur at the default
-    //  trash container, which would be the waste_chute since we do not support
-    //  having no trash container in PD. Since our code generator always generates
-    //  the trash bins first, if a trash bin exists, we will have to provide the
-    //  waste chute location.
-    const pythonLocation = hasTrashBin ? [wasteChutePythonName] : []
     const pythonCommandCreator: CurriedCommandCreator = () => ({
       commands: [],
-      python: `${pipettePythonName}.drop_tip(${pythonLocation})`,
+      python: `${pipettePythonName}.drop_tip(${wasteChutePythonName})`,
     })
 
     commandCreators = [