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Opentrons · Dec 19, 2024 · 77f44b4 · 77f44b4
1 parent ba74f93
commit 77f44b4
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Showing 4 changed files with 80 additions and 37 deletions.
diff --git a/hardware-testing/hardware_testing/gravimetric/__main__.py b/hardware-testing/hardware_testing/gravimetric/__main__.py
@@ -200,7 +200,9 @@ def _get_protocol_context(cls, args: argparse.Namespace) -> ProtocolContext:
             API_LEVEL,  # type: ignore[attr-defined]
             is_simulating=args.simulate,
             pipette_left=PIPETTE_MODEL_NAME[args.pipette][args.channels],
-            pipette_right=PIPETTE_MODEL_NAME[args.pipette][args.channels] if args.channels < 96 else None,
+            pipette_right=PIPETTE_MODEL_NAME[args.pipette][args.channels]
+            if args.channels < 96
+            else None,
             extra_labware=custom_defs,
         )
         for offset in LABWARE_OFFSETS:
@@ -390,7 +392,7 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":  # noqa: C901
             test_report=report,
             liquid=args.liquid,
             dilution=args.dilution,
-            reverse_tips=args.reverse_tips
+            reverse_tips=args.reverse_tips,
         )
 
 
@@ -644,12 +646,8 @@ def _main(
     parser.add_argument(
         "--starting-tip",
         type=str,
-        choices=[
-            f"{c}{str(r + 1)}"
-            for r in range(12)
-            for c in "ABCDEFGH"
-        ],
-        default="A1"
+        choices=[f"{c}{str(r + 1)}" for r in range(12) for c in "ABCDEFGH"],
+        default="A1",
     )
     args = parser.parse_args()
     run_args = RunArgs.build_run_args(args)
@@ -671,7 +669,11 @@ def _main(
         # NOTE: there is a chance that the pipette has a tip still attached
         #       from a previous run (eg: previous run ended in error)
         #       so here we just assume there's a tip and drop the tip no matter what
-        hw_mount = helpers.OT3Mount.LEFT if run_args.pipette.mount == "left" else helpers.OT3Mount.RIGHT
+        hw_mount = (
+            helpers.OT3Mount.LEFT
+            if run_args.pipette.mount == "left"
+            else helpers.OT3Mount.RIGHT
+        )
         hw.add_tip(hw_mount, tip_length=120)  # langer than any tip, to be safe
         run_args.pipette.move_to(run_args.pipette.trash_container)
         hw.drop_tip(hw_mount)

diff --git a/hardware-testing/hardware_testing/gravimetric/execute.py b/hardware-testing/hardware_testing/gravimetric/execute.py
@@ -20,7 +20,7 @@
     _sense_liquid_height,
     _pick_up_tip,
     _drop_tip,
-    get_pipette_unique_name
+    get_pipette_unique_name,
 )
 from .trial import (
     build_gravimetric_trials,
@@ -344,7 +344,9 @@ def _record_measurement_and_store(m_type: MeasurementType) -> MeasurementData:
         raise NotImplementedError("mix testing not implemented")
 
     # center channel over well
-    trial.pipette.move_to(trial.well.top(config.VIAL_SAFE_Z_OFFSET).move(trial.channel_offset))
+    trial.pipette.move_to(
+        trial.well.top(config.VIAL_SAFE_Z_OFFSET).move(trial.channel_offset)
+    )
     if trial.cfg.lld_every_tip:
         liq_height = _get_liquid_height(
             trial.ctx,
@@ -630,10 +632,16 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None:  # noq
         "P50SV3520230812A17": "A",
         "P50SV3520230724A01": "B",
         "P50SV3520230724A02": "C",
-        "P50SV3520231024A11": "D"
+        "P50SV3520231024A11": "D",
     }
     unit_tag: str = UNITS.get(get_pipette_unique_name(resources.pipette), "S")
-    meta_data: List[str] = [resources.test_report._run_id, cfg.liquid, f"P{cfg.pipette_volume}S", unit_tag, str(cfg.tip_volume)]
+    meta_data: List[str] = [
+        resources.test_report._run_id,
+        cfg.liquid,
+        f"P{cfg.pipette_volume}S",
+        unit_tag,
+        str(cfg.tip_volume),
+    ]
     simplified_results_for_calibration_test: List[List[str]] = []
 
     total_tips = len(
@@ -670,7 +678,9 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None:  # noq
     try:
         well = labware_on_scale["A1"]
         if cfg.jog or cfg.blank or not cfg.lld_every_tip:
-            first_tip = _next_tip_for_channel(cfg, resources, 0, total_tips, tip_name=cfg.starting_tip)
+            first_tip = _next_tip_for_channel(
+                cfg, resources, 0, total_tips, tip_name=cfg.starting_tip
+            )
             setup_channel_offset = _get_channel_offset(cfg, channel=0)
             first_tip_location = first_tip.top().move(setup_channel_offset)
             resources.pipette._retract()
@@ -827,7 +837,9 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None:  # noq
                     # FIXME: see why it takes so long to store CSV data
                     resources.test_report.save_to_disk()
 
-                    simplified_results_for_calibration_test[-1].append(str(round(asp_with_evap, 2)))
+                    simplified_results_for_calibration_test[-1].append(
+                        str(round(asp_with_evap, 2))
+                    )
 
                     ui.print_info("dropping tip")
                     if not cfg.same_tip:
@@ -990,14 +1002,13 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None:  # noq
         channel_count=len(channels_to_test),
         test_report=resources.test_report,
     )
-    csv_data_str = "\n".join([
-        "\t".join(csv_line)
-        for csv_line in simplified_results_for_calibration_test
-    ])
+    csv_data_str = "\n".join(
+        ["\t".join(csv_line) for csv_line in simplified_results_for_calibration_test]
+    )
     print(csv_data_str)
     dump_data_to_file(
         resources.test_report._test_name,
         resources.test_report._run_id,
         f"aspirate-volumes-{resources.test_report._tag}.csv",
-        csv_data_str
+        csv_data_str,
     )
diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py
@@ -57,19 +57,24 @@ def _interp(lower: float, upper: float) -> float:
             delay=_interp(a.aspirate.delay, b.aspirate.delay),
             retract_mm=_interp(a.aspirate.retract_mm, b.aspirate.retract_mm),
             air_gap=_interp(a.aspirate.air_gap, b.aspirate.air_gap),
-            retract_delay=_interp(a.aspirate.retract_delay, b.aspirate.retract_delay)
+            retract_delay=_interp(a.aspirate.retract_delay, b.aspirate.retract_delay),
         ),
         dispense=DispenseSettings(
             z_speed=_interp(a.dispense.z_speed, b.dispense.z_speed),
             submerge_mm=_interp(a.dispense.submerge_mm, b.dispense.submerge_mm),
             flow_rate=_interp(a.dispense.flow_rate, b.dispense.flow_rate),
-            break_off_flow_acceleration=_interp(a.dispense.break_off_flow_acceleration, b.dispense.break_off_flow_acceleration),
-            break_off_flow_rate=_interp(a.dispense.break_off_flow_rate, b.dispense.break_off_flow_rate),
+            break_off_flow_acceleration=_interp(
+                a.dispense.break_off_flow_acceleration,
+                b.dispense.break_off_flow_acceleration,
+            ),
+            break_off_flow_rate=_interp(
+                a.dispense.break_off_flow_rate, b.dispense.break_off_flow_rate
+            ),
             break_off_ul=_interp(a.dispense.break_off_ul, b.dispense.break_off_ul),
             delay=_interp(a.dispense.delay, b.dispense.delay),
             retract_mm=_interp(a.dispense.retract_mm, b.dispense.retract_mm),
             push_out=_interp(a.dispense.push_out, b.dispense.push_out),
             blow_out=a.dispense.blow_out or b.dispense.blow_out,
-            retract_delay=_interp(a.dispense.retract_delay, b.dispense.retract_delay)
+            retract_delay=_interp(a.dispense.retract_delay, b.dispense.retract_delay),
         ),
     )
diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py
@@ -229,7 +229,10 @@ def _aspirate_on_submerge() -> None:
         )
 
     def _aspirate_on_retract() -> None:
-        if liquid_class.aspirate.retract_delay and liquid_class.aspirate.submerge_mm < 0:
+        if (
+            liquid_class.aspirate.retract_delay
+            and liquid_class.aspirate.submerge_mm < 0
+        ):
             # NOTE: residual liquid on outside of tip will drop down to bottom of tip
             #       after retracting from liquid. If we air-gap too soon before
             #       said liquid slides down to bottom of tip, the air-gap we create
@@ -257,7 +260,9 @@ def _dispense_on_approach() -> None:
         #       adhering to outside of tip.
         likely_a_contact_dispense = liquid_class.dispense.submerge_mm <= 1
         if not blank and has_air_gap and likely_a_contact_dispense:
-            pipette.flow_rate.dispense = max(liquid_class.aspirate.air_gap, 1)  # 1 second (minimum)
+            pipette.flow_rate.dispense = max(
+                liquid_class.aspirate.air_gap, 1
+            )  # 1 second (minimum)
             pipette.dispense(liquid_class.aspirate.air_gap)
             pipette.flow_rate.dispense = liquid_class.dispense.flow_rate
 
@@ -276,28 +281,41 @@ def _dispense_on_submerge() -> None:
             ), f"push-out ({push_out}) cannot exceed {_get_max_blow_out_ul()}"
             if not break_off:
                 if liquid_class.dispense.break_off_flow_acceleration:
-                    hw_pipette.flow_acceleration = liquid_class.dispense.break_off_flow_acceleration
+                    hw_pipette.flow_acceleration = (
+                        liquid_class.dispense.break_off_flow_acceleration
+                    )
                 pipette.dispense(push_out=push_out)
             else:
-                assert push_out is not None, \
-                    "push-out must be specified when setting a break-off volume"
+                assert (
+                    push_out is not None
+                ), "push-out must be specified when setting a break-off volume"
                 if break_off == push_out:
                     break_off = push_out + 0.1
 
                 def _break_off_cfg() -> None:
-                    pipette.flow_rate.dispense = liquid_class.dispense.break_off_flow_rate
-                    pipette.flow_rate.blow_out = liquid_class.dispense.break_off_flow_rate
-                    hw_api.set_flow_rate(hw_mount, blow_out=liquid_class.dispense.break_off_flow_rate)
+                    pipette.flow_rate.dispense = (
+                        liquid_class.dispense.break_off_flow_rate
+                    )
+                    pipette.flow_rate.blow_out = (
+                        liquid_class.dispense.break_off_flow_rate
+                    )
+                    hw_api.set_flow_rate(
+                        hw_mount, blow_out=liquid_class.dispense.break_off_flow_rate
+                    )
                     if liquid_class.dispense.break_off_flow_acceleration:
-                        hw_pipette.flow_acceleration = liquid_class.dispense.break_off_flow_acceleration
+                        hw_pipette.flow_acceleration = (
+                            liquid_class.dispense.break_off_flow_acceleration
+                        )
 
                 if break_off < push_out:
                     # 1) dispense w/ push-out (minus break-out ul)
                     _reduced_push_out_ul = push_out - break_off
                     pipette.dispense(push_out=_reduced_push_out_ul)
                     # 2) blow-out using break-off ul and speed
                     _break_off_cfg()
-                    hw_api.blow_out(OT3Mount.LEFT, push_out)  # NOTE: volume is absolute below "bottom"
+                    hw_api.blow_out(
+                        OT3Mount.LEFT, push_out
+                    )  # NOTE: volume is absolute below "bottom"
                 elif break_off > push_out:
                     # 1) dispense a reduced amount
                     _remaining_ul = break_off - push_out
@@ -308,7 +326,9 @@ def _break_off_cfg() -> None:
         finally:
             hw_pipette.flow_acceleration = default_flow_accel
             pipette.flow_rate.dispense = liquid_class.dispense.flow_rate
-            hw_api.set_flow_rate(hw_mount, blow_out=liquid_class.dispense.flow_rate)  # FIXME: is this correct?
+            hw_api.set_flow_rate(
+                hw_mount, blow_out=liquid_class.dispense.flow_rate
+            )  # FIXME: is this correct?
         # delay
         _delay_seconds = liquid_class.dispense.delay
         if liquid_class.dispense.submerge_mm >= 0:
@@ -321,7 +341,10 @@ def _break_off_cfg() -> None:
         )
 
     def _dispense_on_retract() -> None:
-        if liquid_class.dispense.retract_delay and liquid_class.dispense.submerge_mm < 0:
+        if (
+            liquid_class.dispense.retract_delay
+            and liquid_class.dispense.submerge_mm < 0
+        ):
             # NOTE: if non-contact dispense, the "retract" delay should have already happened
             ctx.delay(seconds=liquid_class.dispense.retract_delay)
         # NOTE: both the plunger reset or tje trailing-air-gap
@@ -342,7 +365,9 @@ def _dispense_on_retract() -> None:
     # PHASE 1: APPROACH
     pipette.flow_rate.aspirate = liquid_class.aspirate.flow_rate
     pipette.flow_rate.dispense = liquid_class.dispense.flow_rate
-    pipette.flow_rate.blow_out = liquid_class.dispense.flow_rate  # FIXME: is this correct?
+    pipette.flow_rate.blow_out = (
+        liquid_class.dispense.flow_rate
+    )  # FIXME: is this correct?
 
     pipette.move_to(well.bottom(approach_mm).move(channel_offset))
     _aspirate_on_approach() if aspirate or mix else _dispense_on_approach()