fix(api): Speed up LLD by reducing the post-success raise. (#17102)

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# Overview

Right now if we successfully detect liquid we raise (slowly) the entire
max pass distance. this takes a while, especially on the 96 channel
since it's calculated off the max plunger speed.
This reduces the post-success raise to the "safe plunger prep" distance
which we know is a safe distance from the liquid to prevent unwanted
capillary action or adhesion to the outside of the tip.

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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,

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,

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,

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_offset_for_plunger_prep: float,
         force_both_sensors: bool = False,
         response_queue: Optional[PipetteSensorResponseQueue] = None,
     ) -> float:
@@ -2689,6 +2690,7 @@ async def _liquid_probe_pass(
             probe_settings.sensor_threshold_pascals,
             probe_settings.plunger_impulse_time,
             probe_settings.samples_for_baselining,
+            z_offset_for_plunger_prep,
             probe=probe,
             force_both_sensors=force_both_sensors,
             response_queue=response_queue,
@@ -2838,6 +2840,7 @@ 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,
                 )

api/tests/opentrons/hardware_control/backends/test_ot3_controller.py

@@ -745,6 +745,7 @@ async def test_liquid_probe(
             threshold_pascals=fake_liquid_settings.sensor_threshold_pascals,
             plunger_impulse_time=fake_liquid_settings.plunger_impulse_time,
             num_baseline_reads=fake_liquid_settings.samples_for_baselining,
+            z_offset_for_plunger_prep=2.0,
         )
     except PipetteLiquidNotFoundError:
         # the move raises a liquid not found now since we don't call the move group and it doesn't

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -858,6 +858,7 @@ async def test_liquid_probe(
             fake_settings_aspirate.sensor_threshold_pascals,
             fake_settings_aspirate.plunger_impulse_time,
             fake_settings_aspirate.samples_for_baselining,
+            probe_safe_reset_mm,
             probe=InstrumentProbeType.PRIMARY,
             force_both_sensors=False,
             response_queue=None,
@@ -1114,6 +1115,7 @@ async def test_multi_liquid_probe(
             fake_settings_aspirate.sensor_threshold_pascals,
             fake_settings_aspirate.plunger_impulse_time,
             fake_settings_aspirate.samples_for_baselining,
+            2.0,
             probe=InstrumentProbeType.PRIMARY,
             force_both_sensors=False,
             response_queue=None,
@@ -1149,6 +1151,7 @@ async def _fake_pos_update_and_raise(
         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[

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),

hardware/tests/opentrons_hardware/hardware_control/test_tool_sensors.py

@@ -237,6 +237,7 @@ def move_responder(
         threshold_pascals=threshold_pascals,
         plunger_impulse_time=0.2,
         num_baseline_reads=20,
+        z_offset_for_plunger_prep=2.0,
         sensor_id=SensorId.S0,
     )
     assert position[motor_node].positions_only()[0] == 14