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fix(api): make the 8-channel evo pickup work #17930

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Merged
sfoster1 merged 2 commits into from
Mar 31, 2025
Merged

fix(api): make the 8-channel evo pickup work #17930

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4c3924d
fix(api): make the 8-channel evo pickup work
sfoster1 Mar 28, 2025
b41db14
make the number the same as the pipette def
sfoster1 Mar 28, 2025
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42 changes: 22 additions & 20 deletions api/src/opentrons/protocol_engine/commands/evotip_seal_pipette.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,9 +40,12 @@


EvotipSealPipetteCommandType = Literal["evotipSealPipette"]
_PREP_DISTANCE_DEFAULT = 8.25
_PRESS_DISTANCE_DEFAULT = 3.5
_EJECTOR_PUSH_MM_DEFAULT = 7.0
_CAM_PREP_DISTANCE_DEFAULT = 8.25
_CAM_PRESS_DISTANCE_DEFAULT = 3.5
_CAM_EJECTOR_PUSH_MM_DEFAULT = 7.0
_PRESS_FIT_PREP_DISTANCE_DEFAULT = 0
_PRESS_FIT_PRESS_DISTANCE_DEFAULT = -11.0
_PRESS_FIT_EJECTOR_PUSH_MM_DEFAULT = 0
_SAFE_TOP_VOLUME = 1000


Expand Down Expand Up @@ -244,29 +247,28 @@ async def execute(
channels = self._state_view.tips.get_pipette_active_channels(pipette_id)
mount = self._state_view.pipettes.get_mount(pipette_id)
tip_pick_up_params = params.tipPickUpParams
if tip_pick_up_params is None:
tip_pick_up_params = TipPickUpParams(
prepDistance=_PREP_DISTANCE_DEFAULT,
pressDistance=_PRESS_DISTANCE_DEFAULT,
ejectorPushMm=_EJECTOR_PUSH_MM_DEFAULT,
)

if channels != 96:
await self.relative_pickup_tip(
tip_pick_up_params=tip_pick_up_params,
mount=mount,
)
elif channels == 96:
if channels == 96:
if tip_pick_up_params is None:
tip_pick_up_params = TipPickUpParams(
prepDistance=_CAM_PREP_DISTANCE_DEFAULT,
pressDistance=_CAM_PRESS_DISTANCE_DEFAULT,
ejectorPushMm=_CAM_EJECTOR_PUSH_MM_DEFAULT,
)
await self.cam_action_relative_pickup_tip(
tip_pick_up_params=tip_pick_up_params,
mount=mount,
)
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=True,
if tip_pick_up_params is None:
tip_pick_up_params = TipPickUpParams(
prepDistance=_PRESS_FIT_PREP_DISTANCE_DEFAULT,
pressDistance=_PRESS_FIT_PRESS_DISTANCE_DEFAULT,
ejectorPushMm=_PRESS_FIT_EJECTOR_PUSH_MM_DEFAULT,
)
await self.relative_pickup_tip(
tip_pick_up_params=tip_pick_up_params,
mount=mount,
)

# cache_tip
Expand Down