feat(protocol-designer): add submerge for aspirate and dispense

protocol-designer/fixtures/protocol/8/doItAllV3MigratedToV8.json

@@ -149,6 +149,8 @@
           "aspirate_mix_times": "2",
           "aspirate_mix_volume": "30",
           "aspirate_mmFromBottom": 1,
+          "aspirate_submerge_delay_seconds": null,
+          "aspirate_submerge_speed": null,
           "aspirate_touchTip_checkbox": true,
           "aspirate_touchTip_mmFromTop": -2,
           "aspirate_wellOrder_first": "t2b",
@@ -173,6 +175,8 @@
           "dispense_mix_times": null,
           "dispense_mix_volume": null,
           "dispense_mmFromBottom": 0.5,
+          "dispense_submerge_delay_seconds": null,
+          "dispense_submerge_speed": null,
           "dispense_touchTip_checkbox": true,
           "dispense_touchTip_mmFromTop": null,
           "dispense_wellOrder_first": "t2b",

protocol-designer/fixtures/protocol/8/doItAllV4MigratedToV8.json

@@ -181,6 +181,8 @@
           "aspirate_mix_times": null,
           "aspirate_mix_volume": null,
           "aspirate_mmFromBottom": 1,
+          "aspirate_submerge_delay_seconds": null,
+          "aspirate_submerge_speed": null,
           "aspirate_touchTip_checkbox": false,
           "aspirate_touchTip_mmFromTop": null,
           "aspirate_wellOrder_first": "t2b",
@@ -205,6 +207,8 @@
           "dispense_mix_times": null,
           "dispense_mix_volume": null,
           "dispense_mmFromBottom": 0.5,
+          "dispense_submerge_delay_seconds": null,
+          "dispense_submerge_speed": null,
           "dispense_touchTip_checkbox": false,
           "dispense_touchTip_mmFromTop": null,
           "dispense_wellOrder_first": "t2b",

protocol-designer/fixtures/protocol/8/doItAllV7MigratedToV8.json

@@ -199,6 +199,8 @@
           "aspirate_mix_times": null,
           "aspirate_mix_volume": null,
           "aspirate_mmFromBottom": null,
+          "aspirate_submerge_delay_seconds": null,
+          "aspirate_submerge_speed": null,
           "aspirate_touchTip_checkbox": false,
           "aspirate_touchTip_mmFromTop": null,
           "aspirate_wellOrder_first": "t2b",
@@ -223,6 +225,8 @@
           "dispense_mix_times": null,
           "dispense_mix_volume": null,
           "dispense_mmFromBottom": null,
+          "dispense_submerge_delay_seconds": null,
+          "dispense_submerge_speed": null,
           "dispense_touchTip_checkbox": false,
           "dispense_touchTip_mmFromTop": null,
           "dispense_wellOrder_first": "t2b",

protocol-designer/fixtures/protocol/8/doItAllV8.json

@@ -159,6 +159,8 @@
           "aspirate_mix_times": null,
           "aspirate_mix_volume": null,
           "aspirate_mmFromBottom": null,
+          "aspirate_submerge_delay_seconds": null,
+          "aspirate_submerge_speed": null,
           "aspirate_touchTip_checkbox": false,
           "aspirate_touchTip_mmFromTop": null,
           "aspirate_wellOrder_first": "t2b",
@@ -183,6 +185,8 @@
           "dispense_mix_times": null,
           "dispense_mix_volume": null,
           "dispense_mmFromBottom": null,
+          "dispense_submerge_delay_seconds": null,
+          "dispense_submerge_speed": null,
           "dispense_touchTip_checkbox": false,
           "dispense_touchTip_mmFromTop": null,
           "dispense_wellOrder_first": "t2b",

protocol-designer/fixtures/protocol/8/example_1_1_0MigratedToV8.json

@@ -119,6 +119,8 @@
           "aspirate_mix_times": 3,
           "aspirate_mix_volume": "2",
           "aspirate_mmFromBottom": 1,
+          "aspirate_submerge_delay_seconds": null,
+          "aspirate_submerge_speed": null,
           "aspirate_touchTip_checkbox": true,
           "aspirate_touchTip_mmFromTop": -12.8,
           "aspirate_wellOrder_first": "t2b",
@@ -143,6 +145,8 @@
           "dispense_mix_times": 2,
           "dispense_mix_volume": "3",
           "dispense_mmFromBottom": 2.5,
+          "dispense_submerge_delay_seconds": null,
+          "dispense_submerge_speed": null,
           "dispense_touchTip_checkbox": true,
           "dispense_touchTip_mmFromTop": null,
           "dispense_wellOrder_first": "b2t",

protocol-designer/fixtures/protocol/8/newAdvancedSettingsAndMultiTemp.json

@@ -63,6 +63,8 @@
           "aspirate_mix_times": null,
           "aspirate_mix_volume": null,
           "aspirate_mmFromBottom": 29,
+          "aspirate_submerge_delay_seconds": null,
+          "aspirate_submerge_speed": null,
           "aspirate_touchTip_checkbox": false,
           "aspirate_touchTip_mmFromTop": null,
           "aspirate_wellOrder_first": "t2b",
@@ -87,6 +89,8 @@
           "dispense_mix_times": null,
           "dispense_mix_volume": null,
           "dispense_mmFromBottom": null,
+          "dispense_submerge_delay_seconds": null,
+          "dispense_submerge_speed": null,
           "dispense_touchTip_checkbox": false,
           "dispense_touchTip_mmFromTop": null,
           "dispense_wellOrder_first": "t2b",

protocol-designer/fixtures/protocol/8/ninetySixChannelFullAndColumn.json

@@ -62,6 +62,8 @@
           "aspirate_mix_times": null,
           "aspirate_mix_volume": null,
           "aspirate_mmFromBottom": null,
+          "aspirate_submerge_delay_seconds": null,
+          "aspirate_submerge_speed": null,
           "aspirate_touchTip_checkbox": false,
           "aspirate_touchTip_mmFromTop": null,
           "aspirate_wellOrder_first": "t2b",
@@ -86,6 +88,8 @@
           "dispense_mix_times": null,
           "dispense_mix_volume": null,
           "dispense_mmFromBottom": null,
+          "dispense_submerge_delay_seconds": null,
+          "dispense_submerge_speed": null,
           "dispense_touchTip_checkbox": false,
           "dispense_touchTip_mmFromTop": null,
           "dispense_wellOrder_first": "t2b",
@@ -120,6 +124,8 @@
           "aspirate_mix_times": null,
           "aspirate_mix_volume": null,
           "aspirate_mmFromBottom": null,
+          "aspirate_submerge_delay_seconds": null,
+          "aspirate_submerge_speed": null,
           "aspirate_touchTip_checkbox": false,
           "aspirate_touchTip_mmFromTop": null,
           "aspirate_wellOrder_first": "t2b",
@@ -144,6 +150,8 @@
           "dispense_mix_times": null,
           "dispense_mix_volume": null,
           "dispense_mmFromBottom": null,
+          "dispense_submerge_delay_seconds": null,
+          "dispense_submerge_speed": null,
           "dispense_touchTip_checkbox": false,
           "dispense_touchTip_mmFromTop": null,
           "dispense_wellOrder_first": "t2b",

protocol-designer/src/assets/localization/en/application.json

@@ -58,6 +58,7 @@
     "microliter": "µL",
     "microliterPerSec": "µL/s",
     "millimeter": "mm",
+    "millimeterPerSec": "mm/s",
     "nanometer": "nm",
     "minutes": "m",
     "rpm": "rpm",

protocol-designer/src/assets/localization/en/protocol_steps.json

@@ -107,6 +107,8 @@
   "speed": "Speed",
   "starting_deck": "Starting deck",
   "step_substeps": "{{stepType}} details",
+  "submerge": "Submerge",
+  "submerge_speed": "Submerge speed",
   "temperature": "Temperature",
   "temperature_module": {
     "active": "<semiBoldText>{{module}}</semiBoldText><text>set to</text><tag/>",

protocol-designer/src/assets/localization/en/tooltip.json

@@ -37,6 +37,7 @@
       "aspirate_mmFromBottom": "Adjust tip position for aspirate",
       "aspirate_touchTip_checkbox": "Touch tip to each side of the well after aspirating",
       "aspirate_touchTip_mmFromTop": "Distance from the top of the well",
+      "aspirate_submerge": "Lower the tip into the liquid before aspirating",
       "aspirate_wells": "First select a source labware",
       "blowout_checkbox": "Blow extra air through the tip",
       "blowout_flowRate": "Blowout speed",
@@ -50,6 +51,7 @@
       "dispense_labware": "Pipette unable to access labware in staging area",
       "dispense_mix_checkbox": "Aspirate and dispense repeatedly after main dispense",
       "dispense_mmFromBottom": "Adjust tip position for dispense",
+      "dispense_submerge": "Lower the tip into the liquid before dispensing",
       "dispense_touchTip_checkbox": "Touch tip to each side of the well after dispensing",
       "dispense_touchTip_mmFromTop": "Distance from the top of the well",
       "dispense_wells": "First select a destination labware",

protocol-designer/src/form-types.ts

@@ -32,6 +32,8 @@ export type StepFieldName = string
 // | 'aspirate_mix_times'
 // | 'aspirate_mix_volume'
 // | 'aspirate_mmFromBottom'
+// | 'aspirate_submerge_delay_seconds'
+// | 'aspirate_submerge_speed'
 // | 'aspirate_touchTip_checkbox'
 // | 'aspirate_touchTip_mmFromTop'
 // | 'aspirate_wellOrder_first'
@@ -51,6 +53,8 @@ export type StepFieldName = string
 // | 'dispense_mix_times'
 // | 'dispense_mix_volume'
 // | 'dispense_mmFromBottom'
+// | 'dispense_submerge_delay_seconds'
+// | 'dispense_submerge_speed'
 // | 'dispense_touchTip_checkbox'
 // | 'dispense_touchTip_mmFromTop'
 // | 'dispense_wellOrder_first'
@@ -252,6 +256,8 @@ export interface HydratedMoveLiquidFormData extends AnnotationFields {
   aspirate_mix_times?: number | null
   aspirate_mix_volume?: number | null
   aspirate_mmFromBottom?: number | null
+  aspirate_submerge_delay_seconds?: number | null
+  aspirate_submerge_speed?: number | null
   aspirate_touchTip_mmFromTop?: number | null
   aspirate_wells_grouped?: boolean | null
   aspirate_x_position?: number | null
@@ -266,6 +272,8 @@ export interface HydratedMoveLiquidFormData extends AnnotationFields {
   dispense_mix_times?: number | null
   dispense_mix_volume?: number | null
   dispense_mmFromBottom?: number | null
+  dispense_submerge_delay_seconds?: number | null
+  dispense_submerge_speed?: number | null
   dispense_touchTip_mmFromTop?: number | null
   dispense_x_position?: number | null
   dispense_y_position?: number | null

protocol-designer/src/load-file/migration/8_5_0.ts

@@ -110,6 +110,10 @@ export const migrateFile = (
                     matchingDispenseLabwareWellDepth,
                   1
                 ),
+          aspirate_submerge_delay_seconds: null,
+          dispense_submerge_delay_seconds: null,
+          aspirate_submerge_speed: null,
+          dispense_submerge_speed: null,
         },
       }
     }

protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/MoveLiquidTools/index.tsx

@@ -1,15 +1,24 @@
 import { useSelector } from 'react-redux'
 import { useTranslation } from 'react-i18next'
 import {
+  ALIGN_CENTER,
+  COLORS,
   DIRECTION_COLUMN,
   Divider,
   Flex,
+  Icon,
+  ListItem,
   SPACING,
   StyledText,
   Tabs,
+  Tooltip,
+  useHoverTooltip,
 } from '@opentrons/components'
 import { getTrashOrLabware } from '@opentrons/step-generation'
-import { getEnableReturnTip } from '../../../../../../feature-flags/selectors'
+import {
+  getEnableLiquidClasses,
+  getEnableReturnTip,
+} from '../../../../../../feature-flags/selectors'
 import {
   getAdditionalEquipmentEntities,
   getLabwareEntities,
@@ -61,11 +70,13 @@ export function MoveLiquidTools(props: StepFormProps): JSX.Element {
     tab,
     setTab,
   } = props
+  const [targetProps, tooltipProps] = useHoverTooltip()
   const { t, i18n } = useTranslation(['protocol_steps', 'form', 'tooltip'])
   const { path } = formData
   const additionalEquipmentEntities = useSelector(
     getAdditionalEquipmentEntities
   )
+  const enableLiquidClasses = useSelector(getEnableLiquidClasses)
   const enableReturnTip = useSelector(getEnableReturnTip)
   const labwares = useSelector(getLabwareEntities)
   const pipettes = useSelector(getPipetteEntities)
@@ -316,6 +327,67 @@ export function MoveLiquidTools(props: StepFormProps): JSX.Element {
           ]
         }
       />
+      {enableLiquidClasses ? (
+        <>
+          <Divider marginY="0" />
+          <Flex
+            flexDirection={DIRECTION_COLUMN}
+            gridGap={SPACING.spacing8}
+            padding={`0 ${SPACING.spacing16}`}
+          >
+            <Flex gridGap={SPACING.spacing8} alignItems={ALIGN_CENTER}>
+              <StyledText
+                desktopStyle="bodyDefaultRegular"
+                color={COLORS.grey60}
+              >
+                {t('protocol_steps:submerge')}
+              </StyledText>
+              <Flex {...targetProps}>
+                <Icon
+                  name="information"
+                  size="1rem"
+                  color={COLORS.grey60}
+                  data-testid="information_icon"
+                />
+              </Flex>
+              <Tooltip tooltipProps={tooltipProps}>
+                {t(`tooltip:step_fields.defaults.${tab}_submerge`)}
+              </Tooltip>
+            </Flex>
+            <ListItem type="noActive">
+              <Flex
+                padding={SPACING.spacing12}
+                width="100%"
+                flexDirection={DIRECTION_COLUMN}
+                gridGap={SPACING.spacing8}
+              >
+                <InputStepFormField
+                  showTooltip={false}
+                  padding="0"
+                  title={t('protocol_steps:submerge_speed')}
+                  {...propsForFields[`${tab}_submerge_speed`]}
+                  units={t('application:units.millimeterPerSec')}
+                  errorToShow={getFormLevelError(
+                    `${tab}_submerge_speed`,
+                    mappedErrorsToField
+                  )}
+                />
+                <InputStepFormField
+                  showTooltip={false}
+                  padding="0"
+                  title={t('protocol_steps:delay_duration')}
+                  {...propsForFields[`${tab}_submerge_delay_seconds`]}
+                  units={t('application:units.seconds')}
+                  errorToShow={getFormLevelError(
+                    `${tab}_submerge_delay_seconds`,
+                    mappedErrorsToField
+                  )}
+                />
+              </Flex>
+            </ListItem>
+          </Flex>
+        </>
+      ) : null}
       <Divider marginY="0" />
       <Flex
         flexDirection={DIRECTION_COLUMN}

protocol-designer/src/step-forms/test/createPresavedStepForm.test.ts

@@ -160,6 +160,8 @@ describe('createPresavedStepForm', () => {
       aspirate_mix_times: null,
       aspirate_mix_volume: null,
       aspirate_mmFromBottom: null,
+      aspirate_submerge_delay_seconds: null,
+      aspirate_submerge_speed: null,
       aspirate_touchTip_checkbox: false,
       aspirate_touchTip_mmFromTop: null,
       aspirate_wellOrder_first: 't2b',
@@ -177,6 +179,8 @@ describe('createPresavedStepForm', () => {
       dispense_mix_times: null,
       dispense_mix_volume: null,
       dispense_mmFromBottom: null,
+      dispense_submerge_delay_seconds: null,
+      dispense_submerge_speed: null,
       dispense_touchTip_checkbox: false,
       dispense_touchTip_mmFromTop: null,
       dispense_wellOrder_first: 't2b',

protocol-designer/src/steplist/formLevel/getDefaultsForStepType.ts

@@ -61,6 +61,8 @@ export function getDefaultsForStepType(
         aspirate_mix_times: null,
         aspirate_mix_volume: null,
         aspirate_mmFromBottom: null,
+        aspirate_submerge_delay_seconds: null,
+        aspirate_submerge_speed: null,
         aspirate_touchTip_checkbox: false,
         aspirate_touchTip_mmFromTop: null,
         aspirate_wellOrder_first: DEFAULT_WELL_ORDER_FIRST_OPTION,
@@ -85,6 +87,8 @@ export function getDefaultsForStepType(
         dispense_mix_times: null,
         dispense_mix_volume: null,
         dispense_mmFromBottom: null,
+        dispense_submerge_delay_seconds: null,
+        dispense_submerge_speed: null,
         dispense_touchTip_checkbox: false,
         dispense_touchTip_mmFromTop: null,
         dispense_wellOrder_first: DEFAULT_WELL_ORDER_FIRST_OPTION,

protocol-designer/src/steplist/formLevel/test/getDefaultsForStepType.test.ts

@@ -34,6 +34,8 @@ describe('getDefaultsForStepType', () => {
         aspirate_mix_times: null,
         aspirate_mix_volume: null,
         aspirate_mmFromBottom: null,
+        aspirate_submerge_delay_seconds: null,
+        aspirate_submerge_speed: null,
         aspirate_touchTip_checkbox: false,
         aspirate_touchTip_mmFromTop: null,
 
@@ -46,6 +48,8 @@ describe('getDefaultsForStepType', () => {
         dispense_mix_times: null,
         dispense_mix_volume: null,
         dispense_mmFromBottom: null,
+        dispense_submerge_delay_seconds: null,
+        dispense_submerge_speed: null,
         dispense_touchTip_checkbox: false,
         dispense_touchTip_mmFromTop: null,