feat(api): Addition of Evotip specific commands #17351

CaseyBatten · 2025-01-27T15:53:02Z

Overview

Introduces Evotip (or resin-tip) specific commands to the instrument context. These commands achieve the desired sealing, pressurization and unsealing steps for a resin tip protocol.

To Do:

Update the Run Log commands
Validate the amount of real liquid dispensed from the resin tips

Test Plan and Hands on Testing

The following protocol must pass analysis and execute as expected (Note: must have labware definitions merged in):

from opentrons.protocol_api import ProtocolContext

metadata = {
    'protocolName': 'Evo Tips Test',
    'description': ''
}

requirements = {
    "robotType": "Flex",
    "apiLevel": "2.22",
}

def run(ctx: ProtocolContext):
    
    tiprack = ctx.load_labware("opentrons_flex_96_tiprack_200uL", "A2", adapter="opentrons_flex_96_tiprack_adapter")
    pipette = ctx.load_instrument("flex_96channel_1000", 'left', tip_racks=[tiprack])

    well_plate = ctx.load_labware("nest_96_wellplate_2ml_deep", "C3")
    trash = ctx.load_trash_bin("B3")

    # Load the Evo Tips Labware
    evotips_adapter = ctx.load_adapter("evotips_flex_96_tiprack_adapter", "D2")
    evosep_tips_labware = evotips_adapter.load_labware("evotips_opentrons_96_labware")

    # Fill the Evo Tips with liquid
    pipette.pick_up_tip()
    pipette.aspirate(150, well_plate.wells()[0])
    pipette.dispense(150, evosep_tips_labware.wells()[0].top())
    pipette.drop_tip(trash)

    # Soak the Evo Tips for 20 seconds
    ctx.move_labware(evosep_tips_labware, well_plate, True)
    ctx.delay(20)
    ctx.move_labware(evosep_tips_labware, evotips_adapter, True)


    # Seal the pipette to the evotips
    pipette.resin_tip_seal(location=evosep_tips_labware)
    # Dispense all liquid at 2uL/S
    pipette.resin_tip_dispense(location=evosep_tips_labware.wells()[0].top())
    # Unseal/eject the Evo Tips
    pipette.resin_tip_unseal(evosep_tips_labware)

Changelog

Addition of new instrument context and engine commands. Addition of necessary optional flags to hardware API fields to allow for specialty Axis movement and skipping of certain home steps in situations involving the evo tips.

Review requests

Do the approaches used for movement coordination seem appropriate under the engine commands being used?

Risk assessment

Low - New behavior that does not have cross-interaction with other commands. These are also beta commands which will not be publicly documented.

…ngine

codecov · 2025-01-27T16:28:00Z

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github-actions · 2025-01-27T19:08:24Z

A PR has been opened to address analyses snapshot changes. Please review the changes here: #17356

vegano1 · 2025-01-27T19:14:46Z

api/src/opentrons/hardware_control/api.py

@@ -778,6 +778,7 @@ async def move_axes(
        position: Mapping[Axis, float],
        speed: Optional[float] = None,
        max_speeds: Optional[Dict[Axis, float]] = None,
+        _expect_stalls: bool = False,


is this supposed to be an internal arg? maybe we don't need the _

Yeah I don't think we need the _

sfoster1

Let's tighten up some of the dispense implementation and get rid of what parameters we can, please. It does look fine in structure. I eagerly anticipate following this up after release by moving some of these exact movement commands out of the engine and into hardware.

sfoster1 · 2025-01-28T17:36:33Z

api/src/opentrons/hardware_control/api.py

@@ -778,6 +778,7 @@ async def move_axes(
        position: Mapping[Axis, float],
        speed: Optional[float] = None,
        max_speeds: Optional[Dict[Axis, float]] = None,
+        _expect_stalls: bool = False,


Yeah I don't think we need the _

sfoster1 · 2025-01-28T17:37:24Z

api/src/opentrons/hardware_control/ot3api.py

+        self,
+        mount: Union[top_types.Mount, OT3Mount],
+        home_after: bool = False,
+        ignore_plunger: Optional[bool] = False,


this shouldn't be Optional unless it can be none, and if it can be none we should handle the None case. looks like just ignore_plunger: bool = False is fine.

sfoster1 · 2025-01-28T17:41:12Z

api/src/opentrons/protocol_engine/commands/evotip_dispense.py

+        )
+
+        if (
+            isinstance(current_location, CurrentWell)


I don't think this is right. CurrentWell will presumably be the "well" of the tips, right? And evotip_dispense is actually removing liquid from those. The place that it's adding liquid is the intermediate plate, which I think in general the engine won't know about, right? I think we should just not do volume handling here until we know we can do it correctly, which means removing lines 125 to 139.

sfoster1 · 2025-01-28T17:41:23Z

api/src/opentrons/protocol_engine/commands/evotip_dispense.py

+                )
+            return SuccessData(
+                public=EvotipDispenseResult(volume=result.public.volume),
+                state_update=result.state_update.set_liquid_operated(


and removing the set liquid operated

sfoster1 · 2025-01-28T17:42:13Z