ensure evo tip dispense and unseal functions work

api/src/opentrons/hardware_control/ot3api.py

@@ -2325,11 +2325,11 @@ 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
+        self, mount: Union[top_types.Mount, OT3Mount], home_after: bool = False, ignore_plunger: Optional[bool] = False
     ) -> None:
         realmount = OT3Mount.from_mount(mount)
-
-        await self._move_to_plunger_bottom(realmount, rate=1.0, check_current_vol=False)
+        if ignore_plunger is 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 +183,7 @@ async def pick_up_tip(
         ...
 
     async def tip_drop_moves(
-        self, mount: MountArgType, home_after: bool = True
+        self, mount: MountArgType, home_after: bool = True, ignore_plunger: Optional[bool] = False,
     ) -> None:
         ...
 

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

@@ -121,6 +121,7 @@ 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

@@ -128,6 +128,7 @@ async def relative_pickup_tip(
         tip_pick_up_params: TipPickUpParams,
         mount: MountType,
         press_fit: bool,
+        current_volume: float,
     ) -> None:
         prep_distance = tip_pick_up_params.prepDistance
         press_distance = tip_pick_up_params.pressDistance
@@ -174,7 +175,7 @@ async def relative_pickup_tip(
             )
 
             # Lower tip presence
-            await self._gantry_mover.move_axes(axis_map={mount_axis: 2}, speed=10)
+            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,
@@ -185,9 +186,11 @@ async def relative_pickup_tip(
                 speed=5.5,
                 relative_move=True,
             )
+
         # 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)
 
     async def execute(
         self, params: EvotipSealPipetteParams
@@ -238,6 +241,7 @@ async def execute(
                 tip_pick_up_params=params.tipPickUpParams,
                 mount=mount,
                 press_fit=True,
+                current_volume=maximum_volume,
             )
         elif channels == 96:
             pick_up_params = (
@@ -248,14 +252,15 @@ async def execute(
                 tip_geometry=tip_geometry,
                 tip_pick_up_params=pick_up_params,
                 mount=mount,
-                press_fit=True,
+                press_fit=False,
+                current_volume=maximum_volume,
             )
         else:
             tip_geometry = await self._tip_handler.pick_up_tip(
                 pipette_id=pipette_id,
                 labware_id=labware_id,
                 well_name=well_name,
-                do_not_ignore_tip_presence=False,
+                do_not_ignore_tip_presence=True,
             )
         state_update = StateUpdate()
         state_update.update_pipette_tip_state(

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

@@ -8,6 +8,8 @@
 
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
 from opentrons.protocol_engine.errors import UnsupportedLabwareForActionError
+from opentrons.protocol_engine.types import MotorAxis
+from opentrons.types import MountType
 
 from ..types import DropTipWellLocation
 from .pipetting_common import (
@@ -29,7 +31,7 @@
 
 if TYPE_CHECKING:
     from ..state.state import StateView
-    from ..execution import MovementHandler, TipHandler
+    from ..execution import MovementHandler, TipHandler, GantryMover
 
 
 EvotipUnsealPipetteCommandType = Literal["evotipUnsealPipette"]
@@ -76,12 +78,14 @@ def __init__(
         tip_handler: TipHandler,
         movement: MovementHandler,
         model_utils: ModelUtils,
+        gantry_mover: GantryMover,
         **kwargs: object,
     ) -> None:
         self._state_view = state_view
         self._tip_handler = tip_handler
         self._movement_handler = movement
         self._model_utils = model_utils
+        self._gantry_mover = gantry_mover
 
     async def execute(self, params: EvotipUnsealPipetteParams) -> _ExecuteReturn:
         """Move to and drop a tip using the requested pipette."""
@@ -116,11 +120,20 @@ 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
+            )
 
         await self._tip_handler.drop_tip(
             pipette_id=pipette_id,
             home_after=home_after,
             do_not_ignore_tip_presence=False,
+            ignore_plunger=True,
         )
 
         return SuccessData(

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

@@ -81,6 +81,7 @@ async def drop_tip(
         pipette_id: str,
         home_after: Optional[bool],
         do_not_ignore_tip_presence: Optional[bool] = True,
+        ignore_plunger: Optional[bool] = False,
     ) -> None:
         """Drop the attached tip into the current location.
 
@@ -277,6 +278,7 @@ async def drop_tip(
         pipette_id: str,
         home_after: Optional[bool],
         do_not_ignore_tip_presence: Optional[bool] = True,
+        ignore_plunger: Optional[bool] = False,
     ) -> None:
         """See documentation on abstract base class."""
         hw_mount = self._get_hw_mount(pipette_id)
@@ -288,7 +290,7 @@ async def drop_tip(
         else:
             kwargs = {}
 
-        await self._hardware_api.tip_drop_moves(mount=hw_mount, **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.
@@ -440,6 +442,7 @@ async def drop_tip(
         pipette_id: str,
         home_after: Optional[bool],
         do_not_ignore_tip_presence: Optional[bool] = True,
+        ignore_plunger: Optional[bool] = False,
     ) -> None:
         """Pick up a tip at the current location using a virtual pipette.