feat(step-generation): use new flow_rate argument for aspirate() and dispense()

protocol-designer/src/timelineMiddleware/__tests__/generateRobotStateTimeline.test.ts

@@ -294,21 +294,21 @@ mock_pipette.move_to(mock_source_plate["A1"].top(z=2))
 mock_pipette.prepare_to_aspirate()
 mock_pipette.move_to(mock_source_plate["A1"].bottom())
 mock_pipette.move_to(mock_source_plate["A1"].bottom())
-mock_pipette.aspirate(...)
+mock_pipette.aspirate(volume=5, flow_rate=3.78)
 mock_pipette.move_to(mock_source_plate["A1"].bottom())
 mock_pipette.move_to(mock_dest_plate["A12"].bottom())
 mock_pipette.move_to(mock_dest_plate["A12"].bottom())
-mock_pipette.dispense(...)
+mock_pipette.dispense(volume=5, flow_rate=3.78)
 mock_pipette.move_to(mock_dest_plate["A12"].bottom())
 mock_pipette.move_to(mock_source_plate["A2"].top(z=2))
 mock_pipette.prepare_to_aspirate()
 mock_pipette.move_to(mock_source_plate["A2"].bottom())
 mock_pipette.move_to(mock_source_plate["A2"].bottom())
-mock_pipette.aspirate(...)
+mock_pipette.aspirate(volume=5, flow_rate=3.78)
 mock_pipette.move_to(mock_source_plate["A2"].bottom())
 mock_pipette.move_to(mock_dest_plate["A12"].bottom())
 mock_pipette.move_to(mock_dest_plate["A12"].bottom())
-mock_pipette.dispense(...)
+mock_pipette.dispense(volume=5, flow_rate=3.78)
 mock_pipette.move_to(mock_dest_plate["A12"].bottom())
 mock_pipette.drop_tip()
 `.trim(),
@@ -319,11 +319,11 @@ mock_pipette_p300_multi.move_to(mock_source_plate["A1"].top(z=2))
 mock_pipette_p300_multi.prepare_to_aspirate()
 mock_pipette_p300_multi.move_to(mock_source_plate["A1"].bottom())
 mock_pipette_p300_multi.move_to(mock_source_plate["A1"].bottom())
-mock_pipette_p300_multi.aspirate(...)
+mock_pipette_p300_multi.aspirate(volume=5, flow_rate=3.78)
 mock_pipette_p300_multi.move_to(mock_source_plate["A1"].bottom())
 mock_pipette_p300_multi.move_to(mock_dest_plate["A12"].bottom())
 mock_pipette_p300_multi.move_to(mock_dest_plate["A12"].bottom())
-mock_pipette_p300_multi.dispense(...)
+mock_pipette_p300_multi.dispense(volume=5, flow_rate=3.78)
 mock_pipette_p300_multi.move_to(mock_dest_plate["A12"].bottom())
 mock_pipette_p300_multi.drop_tip()
 `.trim(),

step-generation/src/__tests__/aspirate.test.ts

@@ -106,7 +106,7 @@ describe('aspirate', () => {
 mock_pipette.aspirate(
     volume=50,
     location=mock_source_plate["A1"].bottom(z=5),
-    rate=6 / mock_pipette.flow_rate.aspirate,
+    flow_rate=6,
 )`.trimStart()
     )
   })

step-generation/src/__tests__/aspirateInPlace.test.ts

@@ -40,11 +40,7 @@ describe('aspirateInPlace', () => {
       },
     ])
     expect(getSuccessResult(result).python).toBe(
-      `
-mock_pipette.aspirate(
-    volume=10,
-    rate=20 / mock_pipette.flow_rate.aspirate,
-)`.trimStart()
+      `mock_pipette.aspirate(volume=10, flow_rate=20)`
     )
   })
 })

step-generation/src/__tests__/dispense.test.ts

@@ -93,7 +93,7 @@ describe('dispense', () => {
 mock_pipette.dispense(
     volume=50,
     location=mock_source_plate["A1"].bottom(z=5),
-    rate=6 / mock_pipette.flow_rate.dispense,
+    flow_rate=6,
 )`.trimStart()
       )
     })

step-generation/src/__tests__/dispenseInPlace.test.ts

@@ -40,12 +40,6 @@ describe('dispenseInPlace', () => {
         },
       },
     ])
-    expect(res.python).toBe(
-      `
-mock_pipette.dispense(
-    volume=10,
-    rate=10 / mock_pipette.flow_rate.dispense,
-)`.trimStart()
-    )
+    expect(res.python).toBe(`mock_pipette.dispense(volume=10, flow_rate=10)`)
   })
 })

step-generation/src/commandCreators/atomic/aspirate.ts

@@ -275,9 +275,7 @@ export const aspirate: CommandCreator<ExtendedAspirateParams> = (
     `location=${labwarePythonName}[${formatPyStr(
       wellName
     )}]${formatPyWellLocation(wellLocation)}`,
-    // rate= is a ratio in the PAPI, and we have no good way to figure out what
-    // flowrate the PAPI has set the pipette to, so we just have to do a division:
-    `rate=${flowRate} / ${pipettePythonName}.flow_rate.aspirate`,
+    `flow_rate=${flowRate}`,
   ]
   const python = `${pipettePythonName}.aspirate(\n${indentPyLines(
     pythonArgs.join(',\n')

step-generation/src/commandCreators/atomic/aspirateInPlace.ts

@@ -1,5 +1,5 @@
 import * as errorCreators from '../../errorCreators'
-import { indentPyLines, uuid } from '../../utils'
+import { uuid } from '../../utils'
 
 import type { AspirateInPlaceParams } from '@opentrons/shared-data'
 import type { CommandCreator, CommandCreatorError } from '../../types'
@@ -37,14 +37,10 @@ export const aspirateInPlace: CommandCreator<AspirateInPlaceParams> = (
     invariantContext.pipetteEntities[pipetteId].pythonName
   const pythonArgs = [
     `volume=${volume}`,
-    // rate= is a ratio in the PAPI, and we have no good way to figure out what
-    // flowrate the PAPI has set the pipette to, so we just have to do a division:
-    `rate=${flowRate} / ${pipettePythonName}.flow_rate.aspirate`,
+    `flow_rate=${flowRate}`,
     // Note that correction volume is not supported in our public atomic liquid handling APIs
   ]
-  const python = `${pipettePythonName}.aspirate(\n${indentPyLines(
-    pythonArgs.join(',\n')
-  )},\n)`
+  const python = `${pipettePythonName}.aspirate(${pythonArgs.join(', ')})`
 
   if (errors.length > 0) {
     return {

step-generation/src/commandCreators/atomic/dispense.ts

@@ -245,9 +245,7 @@ export const dispense: CommandCreator<DispenseAtomicCommandParams> = (
     `location=${labwarePythonName}[${formatPyStr(
       wellName
     )}]${formatPyWellLocation(wellLocation)}`,
-    // rate= is a ratio in the PAPI, and we have no good way to figure out what
-    // flowrate the PAPI has set the pipette to, so we just have to emit a division:
-    `rate=${flowRate} / ${pipettePythonName}.flow_rate.dispense`,
+    `flow_rate=${flowRate}`,
     // only pass push_out if it is not null
     ...(pushOut != null ? [`push_out=${pushOut}`] : []),
     // PAPI has no way to indicate that we're dispensing air, so we don't do anything

step-generation/src/commandCreators/atomic/dispenseInPlace.ts

@@ -1,5 +1,5 @@
 import * as errorCreators from '../../errorCreators'
-import { indentPyLines, uuid } from '../../utils'
+import { uuid } from '../../utils'
 
 import type { DispenseInPlaceParams } from '@opentrons/shared-data'
 import type { CommandCreator, CommandCreatorError } from '../../types'
@@ -38,15 +38,11 @@ export const dispenseInPlace: CommandCreator<DispenseInPlaceParams> = (
     invariantContext.pipetteEntities[pipetteId].pythonName
   const pythonArgs = [
     `volume=${volume}`,
-    // rate= is a ratio in the PAPI, and we have no good way to figure out what
-    // flowrate the PAPI has set the pipette to, so we just have to do a division:
-    `rate=${flowRate} / ${pipettePythonName}.flow_rate.dispense`,
+    `flow_rate=${flowRate}`,
     ...(pushOut != null ? [`push_out=${pushOut}`] : []),
     // Note that correction volume is not supported in our public atomic liquid handling APIs
   ]
-  const python = `${pipettePythonName}.dispense(\n${indentPyLines(
-    pythonArgs.join(',\n')
-  )},\n)`
+  const python = `${pipettePythonName}.dispense(${pythonArgs.join(', ')})`
 
   if (errors.length > 0) {
     return {