feat(api): introduce correction volume into the liquid classes based transfer flow #17322
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…irate and dispense methods
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## edge #17322 +/- ##
==========================================
+ Coverage 73.84% 79.04% +5.19%
==========================================
Files 43 120 +77
Lines 3304 4587 +1283
==========================================
+ Hits 2440 3626 +1186
- Misses 864 961 +97
Flags with carried forward coverage won't be shown. Click here to find out more. |
sanni-t
added
the
gen-analyses-snapshot-pr
|
A PR has been opened to address analyses snapshot changes. Please review the changes here: #17337 |
sanni-t
removed
the
gen-analyses-snapshot-pr
andySigler
reviewed
Jan 24, 2025
| if ul == 0: | ||
| position = instr.plunger_positions.bottom | ||
| else: | ||
| multiplier = 1.0 + (correction_volume / ul) |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Closes AUTH-964
Overview
Adds
correctionVolumeto protocol engine's aspirate and dispense commands and also adds it as argument to rest of the steps in the pipeline to get the correction volume value from the transfer flow to hardware controller.The hardware controller will then wire it up to move the plunger in proportion to the correction volume.
Test Plan and Hands on Testing
For the PAPI part, unit and integration tests will be sufficient. If we include hardware control changes to wire up plunger movement, then an on-robot test should be performed.
Review requests
Risk assessment
Low