math fix

Opentrons · Jan 14, 2025 · bea6ff0 · bea6ff0
1 parent 65c9758
commit bea6ff0
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Showing 4 changed files with 11 additions and 10 deletions.
diff --git a/api/src/opentrons/protocol_engine/execution/movement.py b/api/src/opentrons/protocol_engine/execution/movement.py
@@ -138,7 +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
+            is_tracking=is_tracking,
         )
 
         speed = self._state_store.pipettes.get_movement_speed(

diff --git a/api/src/opentrons/protocol_engine/execution/pipetting.py b/api/src/opentrons/protocol_engine/execution/pipetting.py
@@ -178,13 +178,13 @@ 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 * -1, # try this tomorrow
+            well_name=well_name,
+            operation_volume=volume * -1,
         )
         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 * -1,
+                z_distance=aspirate_z_distance,
                 flow_rate=flow_rate,
                 volume=adjusted_volume,
             )
@@ -210,13 +210,13 @@ async def dispense_while_tracking(
 
         dispense_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 ?
+            well_name=well_name,
             operation_volume=volume,
         )
         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 * -1),
+                z_distance=dispense_z_distance,
                 flow_rate=flow_rate,
                 volume=adjusted_volume,
                 push_out=push_out,

diff --git a/api/src/opentrons/protocol_engine/state/frustum_helpers.py b/api/src/opentrons/protocol_engine/state/frustum_helpers.py
@@ -423,7 +423,9 @@ 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(f"Invalid target volume {target_volume}, max vol {max_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

diff --git a/api/src/opentrons/protocol_engine/state/geometry.py b/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
@@ -1423,9 +1424,7 @@ def get_liquid_handling_z_change(
             initial_height=initial_handling_height,
             volume=operation_volume,
         )
-        # uncomment this
-        # return final_height - initial_handling_height
-        return initial_handling_height - final_height
+        return final_height - initial_handling_height
 
     def get_well_offset_adjustment(
         self,