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feat(api): add aspirate and dispense while tracking commands #17286

Merged
merged 11 commits into from
Jan 22, 2025
Merged

feat(api): add aspirate and dispense while tracking commands #17286

merged 11 commits into from
Jan 22, 2025

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caila-marashaj
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@caila-marashaj caila-marashaj commented Jan 15, 2025 •
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Overview

This pr creates new protocol engine commands for AspirateWhileTracking and DispenseWhileTracking. These don't affect the functionality of the existing Aspirate and Dispense pe commands. I'm going to add the actual pipetting.py implementation of these in a follow-up pr, and it's going to involve some refactors, so for now it's wired up and just not implemented below the protocol engine.

Changelog

  • add AspirateWhileTracking, DispenseWhileTracking pe commands
  • add them into command_unions
  • update command schema 11

@caila-marashaj caila-marashaj force-pushed the aspirate-dispense-while-tracking branch from 9f67373 to cc3b520 Compare January 16, 2025 16:02
@caila-marashaj caila-marashaj marked this pull request as ready for review January 16, 2025 16:03
@caila-marashaj caila-marashaj requested review from a team as code owners January 16, 2025 16:03
sfoster1
sfoster1 requested changes Jan 16, 2025
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Looks good, but we definitely need to add command tests. These are the parameters we want, right? Primarily something you configure via flow rate?

api/src/opentrons/protocol_engine/commands/aspirate_while_tracking.py Show resolved Hide resolved
api/src/opentrons/protocol_engine/execution/pipetting.py Outdated Show resolved Hide resolved
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caila-marashaj commented Jan 16, 2025 •
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Looks good, but we definitely need to add command tests. These are the parameters we want, right? Primarily something you configure via flow rate?

  • will do on the tests
  • Yep, we want to just specify the flow rate and the z speed will adapt based off of that if that's what you mean

@caila-marashaj caila-marashaj force-pushed the aspirate-dispense-while-tracking branch from 535eb22 to e877d9d Compare January 21, 2025 22:19
@caila-marashaj caila-marashaj force-pushed the aspirate-dispense-while-tracking branch from e877d9d to dba1630 Compare January 21, 2025 22:19
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sfoster1 approved these changes Jan 22, 2025
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Looks really good to me, nice!

@caila-marashaj caila-marashaj merged commit 48a028a into edge Jan 22, 2025
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@caila-marashaj @sfoster1