change em pipette to high speed pipette

Opentrons · Nov 26, 2024 · 0b01e2f · 0b01e2f
1 parent 6b2da73
commit 0b01e2f
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Showing 5 changed files with 10 additions and 8 deletions.
diff --git a/api/src/opentrons/hardware_control/backends/flex_protocol.py b/api/src/opentrons/hardware_control/backends/flex_protocol.py
@@ -82,7 +82,7 @@ def update_constraints_for_plunger_acceleration(
         mount: OT3Mount,
         acceleration: float,
         gantry_load: GantryLoad,
-        em_pipette: bool = False,
+        high_speed_pipette: bool = False,
     ) -> None:
         ...
 

diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -415,14 +415,14 @@ def update_constraints_for_plunger_acceleration(
         mount: OT3Mount,
         acceleration: float,
         gantry_load: GantryLoad,
-        em_pipette: bool = False,
+        high_speed_pipette: bool = False,
     ) -> None:
         new_constraints = get_system_constraints_for_plunger_acceleration(
             self._configuration.motion_settings,
             gantry_load,
             mount,
             acceleration,
-            em_pipette,
+            high_speed_pipette,
         )
         self._move_manager.update_constraints(new_constraints)
 

diff --git a/api/src/opentrons/hardware_control/backends/ot3simulator.py b/api/src/opentrons/hardware_control/backends/ot3simulator.py
@@ -239,7 +239,7 @@ def update_constraints_for_plunger_acceleration(
         mount: OT3Mount,
         acceleration: float,
         gantry_load: GantryLoad,
-        em_pipette: bool = False,
+        high_speed_pipette: bool = False,
     ) -> None:
         self._sim_gantry_load = gantry_load
 

diff --git a/api/src/opentrons/hardware_control/backends/ot3utils.py b/api/src/opentrons/hardware_control/backends/ot3utils.py
@@ -284,14 +284,14 @@ def get_system_constraints_for_plunger_acceleration(
     gantry_load: GantryLoad,
     mount: OT3Mount,
     acceleration: float,
-    em_pipette: bool = False,
+    high_speed_pipette: bool = False,
 ) -> "SystemConstraints[Axis]":
     old_constraints = config.by_gantry_load(gantry_load)
     new_constraints = {}
     axis_kinds = set([k for _, v in old_constraints.items() for k in v.keys()])
 
     def _get_axis_max_speed(ax: Axis) -> float:
-        if ax == Axis.of_main_tool_actuator(mount) and em_pipette:
+        if ax == Axis.of_main_tool_actuator(mount) and high_speed_pipette:
             _max_speed = float(DEFAULT_EMULSIFYING_PIPETTE_AXIS_MAX_SPEED)
         else:
             _max_speed = old_constraints["default_max_speed"][axis_kind]

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -299,9 +299,11 @@ async def set_system_constraints_for_calibration(self) -> None:
     async def set_system_constraints_for_plunger_acceleration(
         self, mount: OT3Mount, acceleration: float
     ) -> None:
-        em_pipette = self._pipette_handler.get_pipette(mount).is_high_speed_pipette()
+        high_speed_pipette = self._pipette_handler.get_pipette(
+            mount
+        ).is_high_speed_pipette()
         self._backend.update_constraints_for_plunger_acceleration(
-            mount, acceleration, self._gantry_load, em_pipette
+            mount, acceleration, self._gantry_load, high_speed_pipette
         )
 
     @contextlib.asynccontextmanager