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feat(api): dynamic liquid tracking instrument papi changes #17294
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## edge #17294 +/- ##
==========================================
- Coverage 25.72% 24.06% -1.66%
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Files 2851 2851
Lines 219520 219517 -3
Branches 17975 17975
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- Hits 56462 52836 -3626
- Misses 163043 166672 +3629
+ Partials 15 9 -6
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This reverts commit 55f5579.
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Overview
This pr contains the
protocol_api
changes that will allow you to call dynamic liquid tracking from a protocol.It won't actually work yet because the hardware api changes need to get merged in, but they're a-comin.
Static Liquid Tracking
The introduction of dynamic liquid tracking will also amend static liquid tracking behavior. Before, you would call an aspirate with static liquid tracking like this:
pip.aspirate(volume=whatever, location=w.meniscus(z=z_offset))
Currently on edge, the location
well.meniscus()
will automatically and immutably point to the projected liquid meniscus at the end of a liquid handling operation, which is not always what you want. For example, if you were to do this with a dispense, the pipette tip would hover above the liquid and then dispense into the air.Using this code, however, you can call aspirate with static liquid tracking to target the ending liquid height:
pip.aspirate(volume=whatever, location=w.meniscus(z=z_offset, target="end"))
,call dispense with static liquid tracking to target the beginning liquid height:
pip.dispense(volume=whatever, location=w.meniscus(z=z_offset, target="beginning"))
,or call either one with dynamic liquid tracking:
pip.aspirate(volume=whatever, location=w.meniscus(z=z_offset, target="dynamic_meniscus"))
pip.dispense(volume=whatever, location=w.meniscus(z=z_offset, target="dynamic_meniscus"))
This won't break any existing protocols with static liquid tracking, because if the location
meniscus
is specified but no target given, thetarget
will default toend
, which was the previous behavior.Changelog
MeniscusTracking
type to store the desired target for liquid trackingAspirateWhileTracking
/DispenseWhileTracking
commands when dynamic liquid tracking is requestedTests
Dynamic liquid tracking won't work in a protocol yet since the hardware control changes still need to be added, but:
target="beginning"
work as expected in a protocoltarget="end"
work as expected in a protocol