feat(api): Add FlexStacker functionality to enable stallguard + add animation patterns to set_led. #17349
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…gisters. - added set_motor_stallguard_threshold (M910) command) - added get_motor_stallguard_threshold (M911) command - added get_motor_driver_register (M920) command - added set_motor_driver_register (M921) command - added parse reset reason to the get_device_info command - fixed issue where driver.get_motion_params was not awaited on the FlexStacker module
…odule. - added handling for motors stall errors (ERR403) - catch MotorStall exception in flex stacker driver to set MoveResult.STALL_ERROR - fix issue with set_led not setting the K arg properly - handle MoveResult.STALL_ERROR and raise FlexStackerStallError in home_axis and move_axis - set DEFAULT_FS_TIMEOUT to 1 second and added FS_MOVE_TIMEOUT 20s
update set_led to accept pattern, duration, and reps
reset led state after stall
sfoster1
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Jan 27, 2025
caila-marashaj
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Feb 11, 2025
…nimation patterns to set_led . (#17349) - added set_motor_stallguard_threshold (M910) command) - added get_motor_stallguard_threshold (M911) command - added get_motor_driver_register (M920) command - added set_motor_driver_register (M921) command - added parse reset reason to the get_device_info command - fixed issue where driver.get_motion_params was not awaited on the FlexStacker module - rename Direction.EXTENT to Direction.EXTEND - validate the serial number before setting it. - add `set_led_state` to the FlexStacker module - added handling for motors stall errors (ERR403) - catch MotorStall exception in flex stacker driver to set MoveResult.STALL_ERROR - fixed an issue with set_led not setting the K arg properly - handle MoveResult.STALL_ERROR and raise FlexStackerStallError in `home_axis` and `move_axis` - set DEFAULT_FS_TIMEOUT to 1 second and added FS_MOVE_TIMEOUT 20s - clear serial input/output buffers if there is an error
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Overview
Add the remaining gcodes to the flex stacker driver and expose some of them to the FlexStacker module to be used by the rest of the stack. This pull request goes in conjunction with this opentrons-modules pull request Opentrons/opentrons-modules#500
Test Plan and Hands on Testing
Changelog
set_led_stateto the FlexStacker moduleReview requests
Anything I'm missing?
Risk assessment
low, unreleased