works but messy

Author: caila-marashaj

api/src/opentrons/hardware_control/ot3api.py

@@ -3050,7 +3050,7 @@ async def dispense_while_tracking(
             dispense_spec.instr.set_current_volume(0)
             raise
         else:
-            dispense_spec.instr.add_current_volume(dispense_spec.volume)
+            dispense_spec.instr.remove_current_volume(dispense_spec.volume)
 
     @property
     def attached_subsystems(self) -> Dict[SubSystem, SubSystemState]:

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

@@ -138,6 +138,7 @@ async def move_to_well(
             force_direct=force_direct,
             minimum_z_height=minimum_z_height,
             operation_volume=operation_volume,
+            is_tracking=is_tracking
         )
 
         speed = self._state_store.pipettes.get_movement_speed(

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

@@ -179,12 +179,12 @@ async def aspirate_while_tracking(
         aspirate_z_distance = self._state_view.geometry.get_liquid_handling_z_change(
             labware_id=labware_id,
             well_name=well_name,  # make sure the protocol engine actually has the well name atp ?
-            operation_volume=volume,
+            operation_volume=volume * -1, # try this tomorrow
         )
         with self._set_flow_rate(pipette=hw_pipette, aspirate_flow_rate=flow_rate):
             await self._hardware_api.aspirate_while_tracking(
                 mount=hw_pipette.mount,
-                z_distance=aspirate_z_distance,
+                z_distance=aspirate_z_distance * -1,
                 flow_rate=flow_rate,
                 volume=adjusted_volume,
             )
@@ -216,7 +216,7 @@ async def dispense_while_tracking(
         with self._set_flow_rate(pipette=hw_pipette, dispense_flow_rate=flow_rate):
             await self._hardware_api.dispense_while_tracking(
                 mount=hw_pipette.mount,
-                z_distance=dispense_z_distance,
+                z_distance=(dispense_z_distance * -1),
                 flow_rate=flow_rate,
                 volume=adjusted_volume,
                 push_out=push_out,

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

@@ -362,7 +362,7 @@ def find_volume_at_well_height(
     volumetric_capacity = get_well_volumetric_capacity(well_geometry)
     max_height = volumetric_capacity[-1][0]
     if target_height < 0 or target_height > max_height:
-        raise InvalidLiquidHeightFound("Invalid target height.")
+        raise InvalidLiquidHeightFound(f"Invalid target height {target_height}.")
     # volumes in volumetric_capacity are relative to each frustum,
     # so we have to find the volume of all the full sections enclosed
     # beneath the target height
@@ -423,7 +423,7 @@ def find_height_at_well_volume(
     volumetric_capacity = get_well_volumetric_capacity(well_geometry)
     max_volume = sum(row[1] for row in volumetric_capacity)
     if target_volume < 0 or target_volume > max_volume:
-        raise InvalidLiquidHeightFound("Invalid target volume.")
+        raise InvalidLiquidHeightFound(f"Invalid target volume {target_volume}, max vol {max_volume}.")
 
     sorted_well = sorted(well_geometry.sections, key=lambda section: section.topHeight)
     # find the section the target volume is in and compute the height

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

@@ -1,6 +1,7 @@
 """Geometry state getters."""
 
 import enum
+# import logging
 from numpy import array, dot, double as npdouble
 from numpy.typing import NDArray
 from typing import Optional, List, Tuple, Union, cast, TypeVar, Dict
@@ -1422,7 +1423,8 @@ def get_liquid_handling_z_change(
             initial_height=initial_handling_height,
             volume=operation_volume,
         )
-        # make sure we handle aspirate and dispense both directions
+        # uncomment this
+        # return final_height - initial_handling_height
         return initial_handling_height - final_height
 
     def get_well_offset_adjustment(
@@ -1445,6 +1447,10 @@ def get_well_offset_adjustment(
             well_location=well_location,
             well_depth=well_depth,
         )
+        # _log = logging.getLogger(__name__)
+        # raise ValueError(
+        #     f"initial handling height {initial_handling_height} \n is_tracking {is_tracking}"
+        # )
         if is_tracking:
             return initial_handling_height
         if isinstance(well_location, PickUpTipWellLocation):
@@ -1473,6 +1479,9 @@ def get_meniscus_height(
         well_liquid = self._wells.get_well_liquid_info(
             labware_id=labware_id, well_name=well_name
         )
+        # raise ValueError(f"well = {well_liquid}")
+        # raise ValueError(f"prbed_height not none{well_liquid.probed_height is not None}\n \
+        # height.height is not None {well_liquid.probed_height.height is not None}")
         if (
             well_liquid.probed_height is not None
             and well_liquid.probed_height.height is not None
@@ -1515,6 +1524,7 @@ def get_well_handling_height(
         elif well_location.origin == WellOrigin.CENTER:
             handling_height = well_depth / 2.0
         elif well_location.origin == WellOrigin.MENISCUS:
+            # baddie here
             handling_height = self.get_meniscus_height(
                 labware_id=labware_id, well_name=well_name
             )

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

@@ -131,7 +131,7 @@ def get_movement_waypoints_to_well(
         extra_waypoints = self._geometry.get_extra_waypoints(
             location=location, to_slot=destination_slot
         )
-
+        # baddie here
         try:
             return motion_planning.get_waypoints(
                 move_type=move_type,