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fix(app): Fix tip drop height during Error Recovery #16656

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merged 1 commit into from
Oct 31, 2024
Merged

fix(app): Fix tip drop height during Error Recovery #16656

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22 changes: 16 additions & 6 deletions app/src/organisms/DropTipWizardFlows/hooks/useDropTipCommands.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,11 @@ import type {
import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data'
import type { CommandData, PipetteData } from '@opentrons/api-client'
import type { Axis, Sign, StepSize } from '/app/molecules/JogControls/types'
import type { DropTipFlowsRoute, FixitCommandTypeUtils } from '../types'
import type {
DropTipFlowsRoute,
FixitCommandTypeUtils,
IssuedCommandsType,
} from '../types'
import type { SetRobotErrorDetailsParams, UseDTWithTypeParams } from '.'
import type { RunCommandByCommandTypeParams } from './useDropTipCreateCommands'

Expand All @@ -37,7 +41,7 @@ export interface UseDropTipCommandsResult {
handleCleanUpAndClose: (homeOnExit?: boolean) => Promise<void>
moveToAddressableArea: (
addressableArea: AddressableAreaName,
stayAtHighestPossibleZ?: boolean
isPredefinedLocation: boolean // Is a predefined location in "choose location."
) => Promise<void>
handleJog: (axis: Axis, dir: Sign, step: StepSize) => void
blowoutOrDropTip: (
Expand Down Expand Up @@ -102,7 +106,7 @@ export function useDropTipCommands({

const moveToAddressableArea = (
addressableArea: AddressableAreaName,
stayAtHighestPossibleZ = true // Generally false when moving to a waste chute or trash bin or during "fixit" flows.
isPredefinedLocation: boolean
): Promise<void> => {
return new Promise((resolve, reject) => {
const addressableAreaFromConfig = getAddressableAreaFromConfig(
Expand All @@ -116,7 +120,8 @@ export function useDropTipCommands({
const moveToAACommand = buildMoveToAACommand(
addressableAreaFromConfig,
pipetteId,
stayAtHighestPossibleZ
isPredefinedLocation,
issuedCommandsType
)
return chainRunCommands(
isFlex
Expand Down Expand Up @@ -386,11 +391,16 @@ const buildBlowoutCommands = (
const buildMoveToAACommand = (
addressableAreaFromConfig: AddressableAreaName,
pipetteId: string | null,
stayAtHighestPossibleZ: boolean
isPredefinedLocation: boolean,
commandType: IssuedCommandsType
): CreateCommand => {
// Always ensure the user does all the jogging if choosing a custom location on the deck.
const stayAtHighestPossibleZ = !isPredefinedLocation
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Contributor Author

@mjhuff mjhuff Oct 31, 2024 •
edited
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Note that we still must specify this param during Error Recovery, because if the client issues a moveToAddressableArea after selecting the "manually move to a location" option, the pipette will move in the z-axis, which we want to avoid.


// Because we can never be certain about which tip is attached outside a protocol run, always assume the most
// conservative estimate, a 1000ul tip.
const zOffset = stayAtHighestPossibleZ ? 0 : 88
const zOffset = commandType === 'setup' && !stayAtHighestPossibleZ ? 88 : 0

return {
commandType: 'moveToAddressableArea',
params: {
Expand Down
2 changes: 1 addition & 1 deletion app/src/organisms/DropTipWizardFlows/steps/ChooseDeckLocation.tsx
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Expand Up @@ -36,7 +36,7 @@ export function ChooseDeckLocation({
)?.id

if (deckSlot != null) {
void moveToAddressableArea(deckSlot).then(() => {
void moveToAddressableArea(deckSlot, false).then(() => {
proceedWithConditionalClose()
})
}
Expand Down
2 changes: 1 addition & 1 deletion app/src/organisms/DropTipWizardFlows/steps/ChooseLocation.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ export function ChooseLocation({
toggleIsRobotPipetteMoving()
void moveToAddressableArea(
selectedLocation?.slotName as AddressableAreaName,
issuedCommandsType === 'fixit' // Because PE has tip state during fixit flows, do not specify a manual offset.
true
).then(() => {
void blowoutOrDropTip(currentRoute, () => {
const successStep =
Expand Down
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