feat(api): scrape off tips towards the center of the tiprack on return tip #17526
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## edge #17526 +/- ##
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- Coverage 26.21% 26.17% -0.05%
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Files 3198 3186 -12
Lines 230986 232870 +1884
Branches 9883 10562 +679
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+ Hits 60562 60955 +393
- Misses 170399 171889 +1490
- Partials 25 26 +1
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…n tip (#17526) <!-- Thanks for taking the time to open a Pull Request (PR)! Please make sure you've read the "Opening Pull Requests" section of our Contributing Guide: https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests GitHub provides robust markdown to format your PR. Links, diagrams, pictures, and videos along with text formatting make it possible to create a rich and informative PR. For more information on GitHub markdown, see: https://docs.github.com/en/get-started/writing-on-github/getting-started-with-writing-and-formatting-on-github/basic-writing-and-formatting-syntax To ensure your code is reviewed quickly and thoroughly, please fill out the sections below to the best of your ability! --> We have seen rare instances where static electricity pulls tips back onto the nozzle during return tip. Starting on the new API version, the motion planner will now move the ejector plate all the way down, then move the pipette towards the center of the tip rack before re-raising the ejector plate. As a result this scrapes off any statically connected tips so there is no chance for them to be pulled back up when the ejector recedes back into the pipette. <!-- Describe your PR at a high level. State acceptance criteria and how this PR fits into other work. Link issues, PRs, and other relevant resources. --> <!-- Describe your testing of the PR. Emphasize testing not reflected in the code. Attach protocols, logs, screenshots and any other assets that support your testing. --> <!-- List changes introduced by this PR considering future developers and the end user. Give careful thought and clear documentation to breaking changes. --> <!-- - What do you need from reviewers to feel confident this PR is ready to merge? - Ask questions. --> <!-- - Indicate the level of attention this PR needs. - Provide context to guide reviewers. - Discuss trade-offs, coupling, and side effects. - Look for the possibility, even if you think it's small, that your change may affect some other part of the system. - For instance, changing return tip behavior may also change the behavior of labware calibration. - How do your unit tests and on hands on testing mitigate this PR's risks and the risk of future regressions? - Especially in high risk PRs, explain how you know your testing is enough. -->
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Overview
We have seen rare instances where static electricity pulls tips back onto the nozzle during return tip. Starting on the new API version, the motion planner will now move the ejector plate all the way down, then move the pipette towards the center of the tip rack before re-raising the ejector plate. As a result this scrapes off any statically connected tips so there is no chance for them to be pulled back up when the ejector recedes back into the pipette.
Test Plan and Hands on Testing
Changelog
Review requests
Risk assessment