feat(hardware-testing): finalize the LLD script

hardware-testing/hardware_testing/liquid_sense/__main__.py

@@ -26,6 +26,7 @@
     get_git_description,
     get_testing_data_directory,
 )
+from opentrons_hardware.hardware_control.motion_planning import move_utils
 
 from opentrons.protocol_api import InstrumentContext, ProtocolContext
 from opentrons.protocol_engine.types import LabwareOffset
@@ -111,12 +112,11 @@ class RunArgs:
     ctx: ProtocolContext
     protocol_cfg: Any
     test_report: CSVReport
-    probe_seconds_before_contact: float
     aspirate: bool
     dial_indicator: Optional[mitutoyo_digimatic_indicator.Mitutoyo_Digimatic_Indicator]
     plunger_speed: float
     trials_before_jog: int
-    multi_passes: int
+    no_multi_pass: int
     test_well: str
 
     @classmethod
@@ -226,7 +226,6 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
             args.liquid,
             protocol_cfg.LABWARE_ON_SCALE,  # type: ignore[union-attr]
             args.z_speed,
-            args.probe_seconds_before_contact,
         )
         return RunArgs(
             tip_volumes=tip_volumes,
@@ -245,31 +244,31 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
             ctx=_ctx,
             protocol_cfg=protocol_cfg,
             test_report=report,
-            probe_seconds_before_contact=args.probe_seconds_before_contact,
             aspirate=args.aspirate,
             dial_indicator=dial,
             plunger_speed=args.plunger_speed,
             trials_before_jog=args.trials_before_jog,
-            multi_passes=args.multi_passes,
+            no_multi_pass=args.no_multi_pass,
             test_well=args.test_well,
         )
 
 
 if __name__ == "__main__":
+    move_utils.MINIMUM_DISPLACEMENT = 0.01
+
     parser = argparse.ArgumentParser("Pipette Testing")
     parser.add_argument("--simulate", action="store_true")
     parser.add_argument("--pipette", type=int, choices=[50, 1000], required=True)
     parser.add_argument("--mount", type=str, choices=["left", "right"], default="left")
     parser.add_argument("--channels", type=int, choices=[1, 8, 96], default=1)
     parser.add_argument("--tip", type=int, choices=[0, 50, 200, 1000], default=0)
-    parser.add_argument("--probe-seconds-before-contact", type=float, default=1.0)
     parser.add_argument("--return-tip", action="store_true")
     parser.add_argument("--trials", type=int, default=7)
     parser.add_argument("--trials-before-jog", type=int, default=7)
     parser.add_argument("--z-speed", type=float, default=1)
     parser.add_argument("--aspirate", action="store_true")
     parser.add_argument("--plunger-speed", type=float, default=-1.0)
-    parser.add_argument("--multi-passes", type=int, default=1)
+    parser.add_argument("--no-multi-pass", action="store_true")
     parser.add_argument("--starting-tip", type=str, default="A1")
     parser.add_argument("--test-well", type=str, default="A1")
     parser.add_argument("--google-sheet-name", type=str, default="LLD-Shared-Data")
@@ -281,9 +280,6 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
 
     args = parser.parse_args()
 
-    assert (
-        0.0 < args.probe_seconds_before_contact <= MAX_PROBE_SECONDS
-    ), f"'--probe-seconds-before-contact' must be between 0.0-{MAX_PROBE_SECONDS}"
     run_args = RunArgs.build_run_args(args)
     exit_error = 0
     serial_logger: Optional[subprocess.Popen] = None
@@ -357,7 +353,7 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
                     run_args.run_id,
                     sheet_id,
                     new_folder_name,
-                    make_graph=True,
+                    make_graph=False,
                 )
                 # Log to Google Sheet
                 if args.aspirate is False:

hardware-testing/hardware_testing/liquid_sense/execute.py

@@ -39,13 +39,6 @@
     pass
 
 
-PROBE_MAX_TIME: Dict[int, float] = {
-    1: 2.75,
-    8: 1.75,
-    96: 0.85,
-}
-
-
 def _load_tipracks(
     ctx: ProtocolContext, pipette_channels: int, protocol_cfg: Any, tip: int
 ) -> List[Labware]:
@@ -263,20 +256,10 @@ def _get_target_height() -> None:
             ui.print_info(f"Picking up {tip}ul tip")
             run_args.pipette.pick_up_tip(tips[0])
             del tips[: run_args.pipette_channels]
-            # operator defines num of seconds btwn start of the probe movement
-            # and meniscus contact calculating ideal starting position is then
-            # easy bc no acceleration is involved during probe
-            starting_mm_above_liquid = (
-                run_args.probe_seconds_before_contact * run_args.z_speed
-            )
-            starting_mount_height = (
-                test_well.bottom(z=liquid_height).point.z + starting_mm_above_liquid
-            )
-            run_args.pipette.move_to(
-                test_well.bottom(z=(liquid_height + starting_mm_above_liquid))
-            )
+
+            run_args.pipette.move_to(test_well.top())
             start_pos = hw_api.current_position_ot3(OT3Mount.LEFT)
-            height = _run_trial(run_args, tip, test_well, trial, starting_mount_height)
+            height = _run_trial(run_args, tip, test_well, trial, start_pos)
             end_pos = hw_api.current_position_ot3(OT3Mount.LEFT)
             run_args.pipette.blow_out()
             tip_length_offset = 0.0
@@ -340,10 +323,7 @@ def get_plunger_travel(run_args: RunArgs) -> float:
 
 
 def find_max_z_distances(
-    run_args: RunArgs,
-    well: Well,
-    p_speed: float,
-    starting_mount_height: float,
+    run_args: RunArgs, well: Well, p_speed: float, tip: float
 ) -> List[float]:
     """Returns a list of max z distances for each probe.
 
@@ -353,15 +333,21 @@ def find_max_z_distances(
     if the distance would exceed the well depth then the number is
     truncated to avoid collisions.
     """
+    hw_mount = OT3Mount.LEFT if run_args.pipette.mount == "left" else OT3Mount.RIGHT
+    hw_api = get_sync_hw_api(run_args.ctx)
+    lld_settings = hw_api._pipette_handler.get_pipette(hw_mount).lld_settings
+
     z_speed = run_args.z_speed
-    max_z_distance = starting_mount_height - well.bottom().point.z
+    max_z_distance = (
+        well.top().point.z
+        - well.bottom().point.z
+        - lld_settings[f"t{int(tip)}"]["minHeight"]
+    )
     plunger_travel = get_plunger_travel(run_args)
     if p_speed == 0:
-        p_travel_time = PROBE_MAX_TIME[run_args.pipette_channels]
+        p_travel_time = 10.0
     else:
-        p_travel_time = min(
-            plunger_travel / p_speed, PROBE_MAX_TIME[run_args.pipette_channels]
-        )
+        p_travel_time = plunger_travel / p_speed
 
     z_travels: List[float] = []
     while max_z_distance > 0:
@@ -372,7 +358,11 @@ def find_max_z_distances(
 
 
 def _run_trial(
-    run_args: RunArgs, tip: int, well: Well, trial: int, starting_mount_height: float
+    run_args: RunArgs,
+    tip: int,
+    well: Well,
+    trial: int,
+    start_pos: Dict[Axis, float],
 ) -> float:
     hw_api = get_sync_hw_api(run_args.ctx)
     lqid_cfg: Dict[str, int] = LIQUID_PROBE_SETTINGS[run_args.pipette_volume][
@@ -397,34 +387,32 @@ def _run_trial(
         else run_args.plunger_speed
     )
 
-    start_height = starting_mount_height
+    start_height = start_pos[Axis.Z_L]
     height = 2 * start_height
-    z_distances: List[float] = find_max_z_distances(
-        run_args, well, plunger_speed, starting_mount_height
+    z_distances: List[float] = find_max_z_distances(run_args, well, plunger_speed, tip)
+    if run_args.no_multi_pass:
+        z_distance = z_distances[0]
+    else:
+        z_distance = sum(z_distances)
+
+    lps = LiquidProbeSettings(
+        mount_speed=run_args.z_speed,
+        plunger_speed=plunger_speed,
+        plunger_impulse_time=0.2,
+        sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
+        output_option=OutputOptions.sync_buffer_to_csv,
+        aspirate_while_sensing=run_args.aspirate,
+        data_files=data_files,
     )
-    z_distances = z_distances[: run_args.multi_passes]
-    for z_dist in z_distances:
-        lps = LiquidProbeSettings(
-            mount_speed=run_args.z_speed,
-            plunger_speed=plunger_speed,
-            plunger_impulse_time=0.2,
-            sensor_threshold_pascals=lqid_cfg["sensor_threshold_pascals"],
-            output_option=OutputOptions.sync_buffer_to_csv,
-            aspirate_while_sensing=run_args.aspirate,
-            data_files=data_files,
-        )
 
-        hw_mount = OT3Mount.LEFT if run_args.pipette.mount == "left" else OT3Mount.RIGHT
-        run_args.recorder.set_sample_tag(f"trial-{trial}-{tip}ul")
-        # TODO add in stuff for secondary probe
-        try:
-            height = hw_api.liquid_probe(hw_mount, z_dist, lps, probe_target)
-        except PipetteLiquidNotFoundError as lnf:
-            ui.print_info(f"Liquid not found current position {lnf.detail}")
-            start_height -= z_dist
-        else:
-            break
-        run_args.recorder.clear_sample_tag()
+    hw_mount = OT3Mount.LEFT if run_args.pipette.mount == "left" else OT3Mount.RIGHT
+    run_args.recorder.set_sample_tag(f"trial-{trial}-{tip}ul")
+    # TODO add in stuff for secondary probe
+    try:
+        height = hw_api.liquid_probe(hw_mount, z_distance, lps, probe_target)
+    except PipetteLiquidNotFoundError as lnf:
+        ui.print_info(f"Liquid not found current position {lnf.detail}")
+    run_args.recorder.clear_sample_tag()
 
     ui.print_info(f"Trial {trial} complete")
     return height

hardware-testing/hardware_testing/liquid_sense/report.py

@@ -76,7 +76,6 @@ def build_config_section() -> CSVSection:
             CSVLine("liquid", [str]),
             CSVLine("labware_type", [str]),
             CSVLine("speed", [str]),
-            CSVLine("probe_seconds_before_contact", [str]),
         ],
     )
 
@@ -151,7 +150,6 @@ def store_config(
     liquid: str,
     labware_type: str,
     speed: str,
-    probe_seconds_before_contact: str,
 ) -> None:
     """Report config."""
     report("CONFIG", "protocol_name", [protocol_name])
@@ -166,7 +164,6 @@ def store_config(
     report("CONFIG", "liquid", [liquid])
     report("CONFIG", "labware_type", [labware_type])
     report("CONFIG", "speed", [speed])
-    report("CONFIG", "probe_seconds_before_contact", [probe_seconds_before_contact])
 
 
 def store_baseline_trial(