remove magic number

Opentrons · Dec 13, 2024 · 5fd016f · 5fd016f
1 parent 0713563
commit 5fd016f
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Showing 5 changed files with 9 additions and 1 deletion.
diff --git a/api/src/opentrons/hardware_control/backends/flex_protocol.py b/api/src/opentrons/hardware_control/backends/flex_protocol.py
@@ -165,6 +165,7 @@ async def liquid_probe(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
+        z_offset_for_plunger_prep: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
         response_queue: Optional[PipetteSensorResponseQueue] = None,

diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -1493,6 +1493,7 @@ async def liquid_probe(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
+        z_offset_for_plunger_prep: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
         response_queue: Optional[PipetteSensorResponseQueue] = None,
@@ -1535,6 +1536,7 @@ def response_capture(data: Dict[SensorId, List[SensorDataType]]) -> None:
             threshold_pascals=threshold_pascals,
             plunger_impulse_time=plunger_impulse_time,
             num_baseline_reads=num_baseline_reads,
+            z_offset_for_plunger_prep=z_offset_for_plunger_prep,
             sensor_id=sensor_id_for_instrument(probe),
             force_both_sensors=force_both_sensors,
             emplace_data=response_capture,

diff --git a/api/src/opentrons/hardware_control/backends/ot3simulator.py b/api/src/opentrons/hardware_control/backends/ot3simulator.py
@@ -353,6 +353,7 @@ async def liquid_probe(
         threshold_pascals: float,
         plunger_impulse_time: float,
         num_baseline_reads: int,
+        z_offset_for_plunger_prep: float,
         probe: InstrumentProbeType = InstrumentProbeType.PRIMARY,
         force_both_sensors: bool = False,
         response_queue: Optional[PipetteSensorResponseQueue] = None,

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -2677,6 +2677,7 @@ async def _liquid_probe_pass(
         probe_settings: LiquidProbeSettings,
         probe: InstrumentProbeType,
         p_travel: float,
+        z_retract_settings: Tuple[float, float, float],
         force_both_sensors: bool = False,
         response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
@@ -2838,6 +2839,7 @@ async def prep_plunger_for_probe_move(
                     probe_settings,
                     checked_probe,
                     plunger_travel_mm + sensor_baseline_plunger_move_mm,
+                    z_offset_for_plunger_prep,
                     force_both_sensors,
                     response_queue,
                 )

diff --git a/hardware/opentrons_hardware/hardware_control/tool_sensors.py b/hardware/opentrons_hardware/hardware_control/tool_sensors.py
@@ -269,6 +269,7 @@ async def liquid_probe(
     threshold_pascals: float,
     plunger_impulse_time: float,
     num_baseline_reads: int,
+    z_offset_for_plunger_prep: float,
     sensor_id: SensorId = SensorId.S0,
     force_both_sensors: bool = False,
     emplace_data: Optional[
@@ -331,8 +332,9 @@ async def liquid_probe(
     )
     sensor_runner = MoveGroupRunner(move_groups=[[lower_plunger], [sensor_group]])
 
+    # Only raise the z a little so we don't do a huge slow travel
     raise_z = create_step(
-        distance={head_node: float64(max_z_distance)},
+        distance={head_node: float64(z_offset_for_plunger_prep)},
         velocity={head_node: float64(-1 * mount_speed)},
         acceleration={},
         duration=float64(max_z_distance / mount_speed),