fix(api): ignore non-present axes in unsafe cmds #16982
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Not all motion axes are always present on machines. For instance, if you have just one pipette present, then you won't have a right plunger motor. This presents a problem for the unsafe/engageAxes and unsafe/updatePositionEstimators commands, which weren't properly handling the case where these axes were specified when not present and the machine was a Flex, where "not present" means "no microcontroller there to respond". While we'd properly handle this case when a 96 was present, or when a gripper was absent, in the single low-throughput pipette case calling unsafe/engageAxes or unsafe/updatePositionEstimators would time out because the right pipette node wasn't present. This would cause drop tip wizard to fail.
TamarZanzouri
approved these changes
Nov 26, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Not all motion axes are always present on machines. For instance, if you have just one pipette present, then you won't have a right plunger motor. This presents a problem for the unsafe/engageAxes and unsafe/updatePositionEstimators commands, which weren't properly handling the case where these axes were specified when not present and the machine was a Flex, where "not present" means "no microcontroller there to respond". While we'd properly handle this case when a 96 was present, or when a gripper was absent, in the single low-throughput pipette case calling unsafe/engageAxes or
unsafe/updatePositionEstimators would time out because the right pipette node wasn't present. This would cause drop tip wizard to fail.
Testing