fix(hardware): gripper calibration fix (#15630)

Opentrons · Jul 11, 2024 · ec3912a · ec3912a
1 parent a03199b
commit ec3912a
Show file tree

Hide file tree

Showing 3 changed files with 17 additions and 9 deletions.
diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -1461,7 +1461,6 @@ async def capacitive_probe(
             tool=sensor_node_for_mount(mount),
             mover=axis_to_node(moving),
             distance=distance_mm,
-            plunger_speed=speed_mm_per_s,
             mount_speed=speed_mm_per_s,
             csv_output=csv_output,
             sync_buffer_output=sync_buffer_output,

diff --git a/hardware/opentrons_hardware/hardware_control/tool_sensors.py b/hardware/opentrons_hardware/hardware_control/tool_sensors.py
@@ -519,7 +519,6 @@ async def capacitive_probe(
     tool: InstrumentProbeTarget,
     mover: NodeId,
     distance: float,
-    plunger_speed: float,
     mount_speed: float,
     sensor_id: SensorId = SensorId.S0,
     relative_threshold_pf: float = 1.0,
@@ -538,6 +537,8 @@ async def capacitive_probe(
     """
     log_files: Dict[SensorId, str] = {} if not data_files else data_files
     sensor_driver = SensorDriver()
+    pipette_present = tool in [NodeId.pipette_left, NodeId.pipette_right]
+
     capacitive_sensors = await _setup_capacitive_sensors(
         messenger,
         sensor_id,
@@ -546,20 +547,28 @@ async def capacitive_probe(
         sensor_driver,
     )
 
+    probe_distance = {mover: distance}
+    probe_speed = {mover: mount_speed}
+    movers = [mover]
+    if pipette_present:
+        probe_distance[tool] = 0.0
+        probe_speed[tool] = 0.0
+        movers.append(tool)
+
     sensor_group = _build_pass_step(
-        movers=[mover, tool],
-        distance={mover: distance, tool: 0.0},
-        speed={mover: mount_speed, tool: 0.0},
+        movers=movers,
+        distance=probe_distance,
+        speed=probe_speed,
         sensor_type=SensorType.capacitive,
         sensor_id=sensor_id,
         stop_condition=MoveStopCondition.sync_line,
     )
     if sync_buffer_output:
         sensor_group = _fix_pass_step_for_buffer(
             sensor_group,
-            movers=[mover, tool],
-            distance={mover: distance, tool: distance},
-            speed={mover: mount_speed, tool: plunger_speed},
+            movers=movers,
+            distance=probe_distance,
+            speed=probe_speed,
             sensor_type=SensorType.capacitive,
             sensor_id=sensor_id,
             stop_condition=MoveStopCondition.sync_line,

diff --git a/hardware/tests/opentrons_hardware/hardware_control/test_tool_sensors.py b/hardware/tests/opentrons_hardware/hardware_control/test_tool_sensors.py
@@ -445,7 +445,7 @@ def move_responder(
     message_send_loopback.add_responder(move_responder)
 
     status = await capacitive_probe(
-        mock_messenger, target_node, motor_node, distance, speed, speed
+        mock_messenger, target_node, motor_node, distance, speed
     )
     assert status.motor_position == 10  # this comes from the current_position_um above
     assert status.encoder_position == 10