papi resin tip command name and doc updates

api/src/opentrons/hardware_control/ot3api.py

@@ -2325,11 +2325,16 @@ def set_working_volume(
         instrument.working_volume = tip_volume
 
     async def tip_drop_moves(
-        self, mount: Union[top_types.Mount, OT3Mount], home_after: bool = False, ignore_plunger: Optional[bool] = False
+        self,
+        mount: Union[top_types.Mount, OT3Mount],
+        home_after: bool = False,
+        ignore_plunger: Optional[bool] = False,
     ) -> None:
         realmount = OT3Mount.from_mount(mount)
         if ignore_plunger is False:
-            await self._move_to_plunger_bottom(realmount, rate=1.0, check_current_vol=False)
+            await self._move_to_plunger_bottom(
+                realmount, rate=1.0, check_current_vol=False
+            )
 
         if self.gantry_load == GantryLoad.HIGH_THROUGHPUT:
             spec = self._pipette_handler.plan_ht_drop_tip()

api/src/opentrons/hardware_control/protocols/liquid_handler.py

@@ -183,7 +183,10 @@ async def pick_up_tip(
         ...
 
     async def tip_drop_moves(
-        self, mount: MountArgType, home_after: bool = True, ignore_plunger: Optional[bool] = False,
+        self,
+        mount: MountArgType,
+        home_after: bool = True,
+        ignore_plunger: Optional[bool] = False,
     ) -> None:
         ...
 

api/src/opentrons/legacy_commands/commands.py

@@ -325,7 +325,7 @@ def unseal(
     }
 
 
-def pressurize(
+def resin_tip_dispense(
     instrument: InstrumentContext,
     volume: float,
     flow_rate: float,

api/src/opentrons/protocol_api/instrument_context.py

@@ -1714,7 +1714,7 @@ def move_to(
         return self
 
     @requires_version(2, 22)
-    def seal(
+    def resin_tip_seal(
         self,
         location: Union[labware.Well, labware.Labware],
     ) -> InstrumentContext:
@@ -1724,7 +1724,7 @@ def seal(
         tip will perform a `pick up` action but there will be no tip tracking
         associated with the pipette.
 
-        See :ref:`seal` for examples.
+        See :ref:`resin_tip_seal` for examples.
 
         :param location: A location containing resin tips, must be a Labware or a Well.
 
@@ -1748,7 +1748,7 @@ def seal(
         return self
 
     @requires_version(2, 22)
-    def unseal(
+    def resin_tip_unseal(
         self,
         location: Union[labware.Well, labware.Labware],
         home_after: Optional[bool] = None,
@@ -1757,11 +1757,20 @@ def unseal(
 
         The location provided should be a valid location to drop resin tips.
 
-        See :ref:`unseal` for examples.
+        See :ref:`resin_tip_unseal` for examples.
 
         :param location: A location containing that can accept tips.
 
         :type location: :py:class:`~.types.Location`
+
+        :param home_after:
+            Whether to home the pipette after dropping the tip. If not specified
+            defaults to ``True`` on a Flex. The plunger will not home on an unseal.
+
+            When ``False``, the pipette does not home its plunger. This can save a few
+            seconds, but is not recommended. Homing helps the robot track the pipette's
+            position.
+
         """
         if isinstance(location, labware.Labware):
             well = location.wells()[0]
@@ -1782,24 +1791,39 @@ def unseal(
         return self
 
     @requires_version(2, 22)
-    def evotip_dispense(
+    def resin_tip_dispense(
         self,
         location: types.Location,
         volume: float,
-        flow_rate: float,
+        rate: float,
         push_out: Optional[float] = None,
     ) -> InstrumentContext:
-        """Seal resin tips onto the pipette.
+        """Dispense a volume from resin tips into a labware.
 
-        The location provided should contain resin tips. Sealing the
-        tip will perform a `pick up` action but there will be no tip tracking
-        associated with the pipette.
+        The location provided should contain resin tips labware as well as a
+        receptical for dispensed liquid. Dispensing from tip will perform a
+        `dispense` action of the specified volume at a desired flow rate.
 
-        See :ref:`seal` for examples.
+        See :ref:`resin_tip_dispense` for examples.
 
         :param location: A location containing resin tips.
-
         :type location: :py:class:`~.types.Location`
+
+        :param volume: The volume, in µL, that the pipette will prepare to handle.
+        :type volume: float
+
+        :param rate: How quickly a pipette dispenses liquid. The speed in µL/s is
+                     calculated as ``rate`` multiplied by :py:attr:`flow_rate.dispense
+                     <flow_rate>`. If not specified, defaults to 1.0. See
+                     :ref:`new-plunger-flow-rates`.
+        :type rate: float
+
+        :param push_out: Continue past the plunger bottom to help ensure all liquid
+                         leaves the tip. Measured in µL. The default value is ``None``.
+
+                         See :ref:`push-out-dispense` for details.
+        :type push_out: float
+
         """
         well: Optional[labware.Well] = None
         last_location = self._get_last_location_by_api_version()
@@ -1827,21 +1851,23 @@ def evotip_dispense(
                     z=self._well_bottom_clearances.dispense
                 )
         else:
-            raise RuntimeError("A well must be specified when using `evotip_dispense`.")
+            raise RuntimeError(
+                "A well must be specified when using `resin_tip_dispense`."
+            )
 
         with publisher.publish_context(
             broker=self.broker,
-            command=cmds.pressurize(
+            command=cmds.resin_tip_dispense(
                 instrument=self,
                 volume=volume,
-                flow_rate=flow_rate,
+                flow_rate=rate,
             ),
         ):
             self._core.evotip_dispense(
                 move_to_location,
                 well_core=well._core,
                 volume=volume,
-                flow_rate=flow_rate,
+                flow_rate=rate,
                 push_out=push_out,
             )
         return self

api/src/opentrons/protocol_engine/commands/evotip_dispense.py

@@ -121,7 +121,6 @@ async def execute(self, params: EvotipDispenseParams) -> _ExecuteReturn:
             pipetting=self._pipetting,
             model_utils=self._model_utils,
         )
-
 
         if (
             isinstance(current_location, CurrentWell)

api/src/opentrons/protocol_engine/commands/evotip_seal_pipette.py

@@ -33,7 +33,13 @@
 
 if TYPE_CHECKING:
     from ..state.state import StateView
-    from ..execution import MovementHandler, TipHandler, GantryMover, PipettingHandler, Had
+    from ..execution import (
+        MovementHandler,
+        TipHandler,
+        GantryMover,
+        PipettingHandler,
+        Had,
+    )
     from ..notes import CommandNoteAdder
 
 
@@ -144,7 +150,10 @@ async def relative_pickup_tip(
 
             # Drive mount down for press-fit
             await self._gantry_mover.move_axes(
-                axis_map={mount_axis: press_distance}, speed=10.0, relative_move=True, _expect_stalls=True
+                axis_map={mount_axis: press_distance},
+                speed=10.0,
+                relative_move=True,
+                _expect_stalls=True,
             )
             # retract cam : 11.05
             await self._gantry_mover.move_axes(
@@ -175,7 +184,9 @@ async def relative_pickup_tip(
             )
 
             # Lower tip presence
-            await self._gantry_mover.move_axes(axis_map={mount_axis: 2}, speed=10, relative_move=True)
+            await self._gantry_mover.move_axes(
+                axis_map={mount_axis: 2}, speed=10, relative_move=True
+            )
             await self._gantry_mover.move_axes(
                 axis_map={MotorAxis.AXIS_96_CHANNEL_CAM: ejector_push_mm},
                 speed=5.5,
@@ -190,7 +201,9 @@ async def relative_pickup_tip(
         # cache_tip
         if self._state_view.config.use_virtual_pipettes is False:
             self._tip_handler.cache_tip(pipette_id, tip_geometry)
-            self._hardware_api.hardware_instruments[mount.to_hw_mount()].set_current_volume(current_volume)
+            self._hardware_api.hardware_instruments[
+                mount.to_hw_mount()
+            ].set_current_volume(current_volume)
 
     async def execute(
         self, params: EvotipSealPipetteParams
@@ -226,9 +239,9 @@ async def execute(
         )
         maximum_volume = self._state_view.pipettes.get_maximum_volume(pipette_id)
         if self._state_view.pipettes.get_mount(pipette_id) == MountType.LEFT:
-            self._hardware_api.home(axes = [Axis.P_L])
+            self._hardware_api.home(axes=[Axis.P_L])
         else:
-            self._hardware_api.home(axes = [Axis.P_R])
+            self._hardware_api.home(axes=[Axis.P_R])
 
         # Begin relative pickup steps for the resin tips
 
@@ -267,9 +280,11 @@ async def execute(
             pipette_id=pipette_id,
             tip_geometry=tip_geometry,
         )
-
-
-        state_update.set_fluid_aspirated(pipette_id=pipette_id, fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=maximum_volume))
+
+        state_update.set_fluid_aspirated(
+            pipette_id=pipette_id,
+            fluid=AspiratedFluid(kind=FluidKind.LIQUID, volume=maximum_volume),
+        )
         return SuccessData(
             public=EvotipSealPipetteResult(
                 tipVolume=tip_geometry.volume,

api/src/opentrons/protocol_engine/commands/evotip_unseal_pipette.py

@@ -49,7 +49,7 @@ class EvotipUnsealPipetteParams(PipetteIdMixin):
     homeAfter: Optional[bool] = Field(
         None,
         description=(
-            "Whether to home this pipette's plunger after dropping the tip."
+            "Whether to home this pipette after dropping the tip."
             " You should normally leave this unspecified to let the robot choose"
             " a safe default depending on its hardware."
         ),
@@ -120,14 +120,14 @@ async def execute(self, params: EvotipUnsealPipetteParams) -> _ExecuteReturn:
         )
         if isinstance(move_result, DefinedErrorData):
             return move_result
-        
+
         # Move to an appropriate position
         mount = self._state_view.pipettes.get_mount(pipette_id)
-        
+
         mount_axis = MotorAxis.LEFT_Z if mount == MountType.LEFT else MotorAxis.RIGHT_Z
         await self._gantry_mover.move_axes(
-                axis_map={mount_axis: -14}, speed=10, relative_move=True
-            )
+            axis_map={mount_axis: -14}, speed=10, relative_move=True
+        )
 
         await self._tip_handler.drop_tip(
             pipette_id=pipette_id,

api/src/opentrons/protocol_engine/execution/tip_handler.py

@@ -290,7 +290,9 @@ async def drop_tip(
         else:
             kwargs = {}
 
-        await self._hardware_api.tip_drop_moves(mount=hw_mount, ignore_plunger=ignore_plunger, **kwargs)
+        await self._hardware_api.tip_drop_moves(
+            mount=hw_mount, ignore_plunger=ignore_plunger, **kwargs
+        )
 
         if do_not_ignore_tip_presence:
             # Allow TipNotAttachedError to propagate.

api/src/opentrons/protocol_engine/state/pipettes.py

@@ -332,8 +332,10 @@ def _update_aspirated(
         self, update: update_types.PipetteAspiratedFluidUpdate
     ) -> None:
         if self._state.pipette_contents_by_id[update.pipette_id] is None:
-          self._state.pipette_contents_by_id[update.pipette_id] = fluid_stack.FluidStack()
-
+            self._state.pipette_contents_by_id[
+                update.pipette_id
+            ] = fluid_stack.FluidStack()
+
         self._fluid_stack_log_if_empty(update.pipette_id).add_fluid(update.fluid)
 
     def _update_ejected(self, update: update_types.PipetteEjectedFluidUpdate) -> None: