refactor(api): Update flex acc speeds based on EE recs (#12946)

api/src/opentrons/config/defaults_ot3.py

@@ -77,19 +77,20 @@
 DEFAULT_GRIPPER_MOUNT_OFFSET: Final[Offset] = (84.55, -12.75, 93.85)
 DEFAULT_Z_RETRACT_DISTANCE: Final = 2
 DEFAULT_SAFE_HOME_DISTANCE: Final = 5
+DEFAULT_CALIBRATION_AXIS_MAX_SPEED: Final = 30
 
 DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={
-        OT3AxisKind.X: 375,
-        OT3AxisKind.Y: 375,
+        OT3AxisKind.X: 400,
+        OT3AxisKind.Y: 325,
         OT3AxisKind.Z: 35,
         OT3AxisKind.P: 5,
         OT3AxisKind.Z_G: 50,
         OT3AxisKind.Q: 5.5,
     },
     low_throughput={
-        OT3AxisKind.X: 375,
-        OT3AxisKind.Y: 375,
+        OT3AxisKind.X: 400,
+        OT3AxisKind.Y: 325,
         OT3AxisKind.Z: 100,
         OT3AxisKind.P: 45,
         OT3AxisKind.Z_G: 50,
@@ -98,17 +99,17 @@
 
 DEFAULT_ACCELERATIONS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={
-        OT3AxisKind.X: 600,
-        OT3AxisKind.Y: 600,
-        OT3AxisKind.Z: 120,
+        OT3AxisKind.X: 800,
+        OT3AxisKind.Y: 500,
+        OT3AxisKind.Z: 150,
         OT3AxisKind.P: 30,
         OT3AxisKind.Z_G: 150,
         OT3AxisKind.Q: 10,
     },
     low_throughput={
-        OT3AxisKind.X: 600,
+        OT3AxisKind.X: 800,
         OT3AxisKind.Y: 600,
-        OT3AxisKind.Z: 300,
+        OT3AxisKind.Z: 150,
         OT3AxisKind.P: 100,
         OT3AxisKind.Z_G: 150,
     },
@@ -174,17 +175,17 @@
 
 DEFAULT_RUN_CURRENT: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
     high_throughput={
-        OT3AxisKind.X: 1.4,
+        OT3AxisKind.X: 1.25,
         OT3AxisKind.Y: 1.4,
-        OT3AxisKind.Z: 1.4,
+        OT3AxisKind.Z: 1.5,
         OT3AxisKind.P: 2.2,
         OT3AxisKind.Z_G: 0.67,
         OT3AxisKind.Q: 1.5,
     },
     low_throughput={
-        OT3AxisKind.X: 1.4,
-        OT3AxisKind.Y: 1.4,
-        OT3AxisKind.Z: 1.4,
+        OT3AxisKind.X: 1.25,
+        OT3AxisKind.Y: 1.25,
+        OT3AxisKind.Z: 1.0,
         # TODO: verify this value
         OT3AxisKind.P: 1.0,
         OT3AxisKind.Z_G: 0.67,

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -1,6 +1,7 @@
 """Shared utilities for ot3 hardware control."""
 from typing import Dict, Iterable, List, Set, Tuple, TypeVar, Sequence
 from typing_extensions import Literal
+from opentrons.config.defaults_ot3 import DEFAULT_CALIBRATION_AXIS_MAX_SPEED
 from opentrons.config.types import OT3MotionSettings, OT3CurrentSettings, GantryLoad
 from opentrons.hardware_control.types import (
     OT3Axis,
@@ -235,6 +236,29 @@ def get_system_constraints(
     return constraints
 
 
+def get_system_constraints_for_calibration(
+    config: OT3MotionSettings,
+    gantry_load: GantryLoad,
+) -> "SystemConstraints[OT3Axis]":
+    conf_by_pip = config.by_gantry_load(gantry_load)
+    constraints = {}
+    for axis_kind in [
+        OT3AxisKind.P,
+        OT3AxisKind.X,
+        OT3AxisKind.Y,
+        OT3AxisKind.Z,
+        OT3AxisKind.Z_G,
+    ]:
+        for axis in OT3Axis.of_kind(axis_kind):
+            constraints[axis] = AxisConstraints.build(
+                conf_by_pip["acceleration"][axis_kind],
+                conf_by_pip["max_speed_discontinuity"][axis_kind],
+                conf_by_pip["direction_change_speed_discontinuity"][axis_kind],
+                DEFAULT_CALIBRATION_AXIS_MAX_SPEED,
+            )
+    return constraints
+
+
 def _convert_to_node_id_dict(
     axis_pos: Coordinates[OT3Axis, CoordinateValue],
 ) -> NodeIdMotionValues:

api/src/opentrons/hardware_control/ot3_calibration.py

@@ -564,30 +564,32 @@ async def _calibrate_mount(
     from the current instrument offset to set a new instrument offset.
     """
     nominal_center = Point(*get_calibration_square_position_in_slot(slot))
-    try:
-        # find the center of the calibration sqaure
-        offset = await find_calibration_structure_position(
-            hcapi,
-            mount,
-            nominal_center,
-            method=method,
-            raise_verify_error=raise_verify_error,
-        )
-        # update center with values obtained during calibration
-        LOG.info(f"Found calibration value {offset} for mount {mount.name}")
-        return offset
-
-    except (
-        InaccurateNonContactSweepError,
-        EarlyCapacitiveSenseTrigger,
-        CalibrationStructureNotFoundError,
-    ):
-        LOG.info(
-            "Error occurred during calibration. Resetting to current saved calibration value."
-        )
-        await hcapi.reset_instrument_offset(mount, to_default=False)
-        # re-raise exception after resetting instrument offset
-        raise
+    async with hcapi.restore_system_constrants():
+        await hcapi.set_system_constraints_for_calibration()
+        try:
+            # find the center of the calibration sqaure
+            offset = await find_calibration_structure_position(
+                hcapi,
+                mount,
+                nominal_center,
+                method=method,
+                raise_verify_error=raise_verify_error,
+            )
+            # update center with values obtained during calibration
+            LOG.info(f"Found calibration value {offset} for mount {mount.name}")
+            return offset
+
+        except (
+            InaccurateNonContactSweepError,
+            EarlyCapacitiveSenseTrigger,
+            CalibrationStructureNotFoundError,
+        ):
+            LOG.info(
+                "Error occurred during calibration. Resetting to current saved calibration value."
+            )
+            await hcapi.reset_instrument_offset(mount, to_default=False)
+            # re-raise exception after resetting instrument offset
+            raise
 
 
 async def find_calibration_structure_position(

api/src/opentrons/hardware_control/ot3api.py

@@ -3,6 +3,7 @@
 from functools import partial, lru_cache
 from dataclasses import replace
 import logging
+from copy import deepcopy
 from collections import OrderedDict
 from typing import (
     AsyncIterator,
@@ -63,6 +64,7 @@
 from .backends.ot3simulator import OT3Simulator
 from .backends.ot3utils import (
     get_system_constraints,
+    get_system_constraints_for_calibration,
     axis_convert,
 )
 from .backends.errors import SubsystemUpdating
@@ -239,6 +241,27 @@ async def set_gantry_load(self, gantry_load: GantryLoad) -> None:
         )
         await self._backend.update_to_default_current_settings(gantry_load)
 
+    async def set_system_constraints_for_calibration(self) -> None:
+        self._move_manager.update_constraints(
+            get_system_constraints_for_calibration(
+                self._config.motion_settings, self._gantry_load
+            )
+        )
+        mod_log.debug(
+            f"Set system constraints for calibration: {self._move_manager.get_constraints()}"
+        )
+
+    @contextlib.asynccontextmanager
+    async def restore_system_constrants(self) -> AsyncIterator[None]:
+        old_system_constraints = deepcopy(self._move_manager.get_constraints())
+        try:
+            yield
+        finally:
+            self._move_manager.update_constraints(old_system_constraints)
+            mod_log.debug(
+                f"Restore previous system constraints: {old_system_constraints}"
+            )
+
     def _update_door_state(self, door_state: DoorState) -> None:
         mod_log.info(f"Updating the window switch status: {door_state}")
         self.door_state = door_state

hardware-testing/hardware_testing/gravimetric/overrides/api.patch

@@ -3,34 +3,34 @@ index 89696c5b2a..4c2d6184b8 100644
 --- a/api/src/opentrons/config/defaults_ot3.py
 +++ b/api/src/opentrons/config/defaults_ot3.py
 @@ -83,7 +83,7 @@ DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad
-         OT3AxisKind.X: 375,
-         OT3AxisKind.Y: 375,
+         OT3AxisKind.X: 400,
+         OT3AxisKind.Y: 325,
          OT3AxisKind.Z: 35,
 -        OT3AxisKind.P: 5,
 +        OT3AxisKind.P: 20,
          OT3AxisKind.Z_G: 50,
          OT3AxisKind.Q: 5.5,
      },
-@@ -98,18 +98,18 @@ DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad
+@@ -100,18 +100,18 @@ DEFAULT_MAX_SPEEDS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad
 
  DEFAULT_ACCELERATIONS: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoad(
      high_throughput={
--        OT3AxisKind.X: 600,
--        OT3AxisKind.Y: 600,
+-        OT3AxisKind.X: 800,
+-        OT3AxisKind.Y: 500,
 +        OT3AxisKind.X: 500,
 +        OT3AxisKind.Y: 500,
-         OT3AxisKind.Z: 120,
+         OT3AxisKind.Z: 150,
 -        OT3AxisKind.P: 30,
 +        OT3AxisKind.P: 1000,
          OT3AxisKind.Z_G: 150,
          OT3AxisKind.Q: 10,
      },
      low_throughput={
--        OT3AxisKind.X: 600,
+-        OT3AxisKind.X: 800,
 -        OT3AxisKind.Y: 600,
 +        OT3AxisKind.X: 500,
 +        OT3AxisKind.Y: 200,
-         OT3AxisKind.Z: 300,
+         OT3AxisKind.Z: 150,
 -        OT3AxisKind.P: 100,
 +        OT3AxisKind.P: 1500,
          OT3AxisKind.Z_G: 150,
@@ -47,9 +47,9 @@ index 89696c5b2a..4c2d6184b8 100644
          OT3AxisKind.Q: 5,
 @@ -176,8 +176,8 @@ DEFAULT_RUN_CURRENT: Final[ByGantryLoad[Dict[OT3AxisKind, float]]] = ByGantryLoa
      high_throughput={
-         OT3AxisKind.X: 1.4,
+         OT3AxisKind.X: 1.25,
          OT3AxisKind.Y: 1.4,
--        OT3AxisKind.Z: 1.4,
+-        OT3AxisKind.Z: 1.5,
 -        OT3AxisKind.P: 2.2,
 +        OT3AxisKind.Z: 1.5,
 +        OT3AxisKind.P: 0.8,

hardware/opentrons_hardware/hardware_control/motion_planning/move_manager.py

@@ -30,6 +30,10 @@ def update_constraints(self, constraints: SystemConstraints[AxisKey]) -> None:
         """Update system constraints when instruments are changed."""
         self._constraints = constraints
 
+    def get_constraints(self) -> SystemConstraints[AxisKey]:
+        """Retrieve current system constraints."""
+        return self._constraints
+
     def _clear_blend_log(self) -> None:
         """Empty the blend log."""
         self._blend_log = []