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feat(step-generation): introduce airGapInPlace command #17357

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merged 2 commits into from
Jan 28, 2025
Merged

feat(step-generation): introduce airGapInPlace command #17357

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15939ac
feat(step-generation): introduce airGapInPlace command
jerader Jan 27, 2025
c87abcf
add moveToWell before airGapInPlace
jerader Jan 28, 2025
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203 changes: 142 additions & 61 deletions step-generation/src/__tests__/consolidate.test.ts
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125 changes: 75 additions & 50 deletions step-generation/src/__tests__/distribute.test.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@ import {
pickUpTipHelper,
SOURCE_LABWARE,
blowoutInPlaceHelper,
makeMoveToWellHelper,
} from '../fixtures'
import { distribute } from '../commandCreators/compound/distribute'
import type { CreateCommand, LabwareDefinition2 } from '@opentrons/shared-data'
Expand All @@ -36,17 +37,6 @@ import {
DEST_WELL_BLOWOUT_DESTINATION,
} from '../utils/misc'

// well depth for 96 plate is 10.54, so need to add 1mm to top of well
const airGapHelper = makeAirGapHelper({
wellLocation: {
origin: 'bottom',
offset: {
x: 0,
y: 0,
z: 11.54,
},
},
})
const dispenseAirGapHelper = makeDispenseAirGapHelper({
wellLocation: {
origin: 'bottom',
Expand Down Expand Up @@ -457,8 +447,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
expect(res.commands).toEqual([
aspirateHelper('A1', 200),
...delayWithOffset('A1', SOURCE_LABWARE),

airGapHelper('A1', 5),
makeMoveToWellHelper('A1'),
makeAirGapHelper(5),
delayCommand(12),

dispenseAirGapHelper('A2', 5),
Expand All @@ -467,8 +457,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',

aspirateHelper('A1', 200),
...delayWithOffset('A1', SOURCE_LABWARE),

airGapHelper('A1', 5),
makeMoveToWellHelper('A1'),
makeAirGapHelper(5),
delayCommand(12),
dispenseAirGapHelper('A4', 5),
dispenseHelper('A4', 100),
Expand Down Expand Up @@ -496,13 +486,15 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
const res = getSuccessResult(result)
expect(res.commands).toEqual([
aspirateHelper('A1', 200),
airGapHelper('A1', 5),
makeMoveToWellHelper('A1'),
makeAirGapHelper(5),
dispenseAirGapHelper('A2', 5),
dispenseHelper('A2', 100),
dispenseHelper('A3', 100),

aspirateHelper('A1', 200),
airGapHelper('A1', 5),
makeMoveToWellHelper('A1'),
makeAirGapHelper(5),
dispenseAirGapHelper('A4', 5),
dispenseHelper('A4', 100),
dispenseHelper('A5', 100),
Expand Down Expand Up @@ -530,7 +522,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
const res = getSuccessResult(result)
expect(res.commands).toEqual([
aspirateHelper('A1', 200),
airGapHelper('A1', 5),
makeMoveToWellHelper('A1'),
makeAirGapHelper(5),

dispenseAirGapHelper('A2', 5),
delayCommand(12),
Expand All @@ -540,7 +533,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
...delayWithOffset('A3', DEST_LABWARE),

aspirateHelper('A1', 200),
airGapHelper('A1', 5),
makeMoveToWellHelper('A1'),
makeAirGapHelper(5),

dispenseAirGapHelper('A4', 5),
delayCommand(12),
Expand Down Expand Up @@ -930,7 +924,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('B1', 31),
Expand Down Expand Up @@ -977,7 +972,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('A2', 31),
Expand Down Expand Up @@ -1009,7 +1005,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
dispenseAirGapHelper('A4', 31),
delayCommand(12),
Expand All @@ -1020,7 +1017,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
touchTipHelper('A4', { labwareId: DEST_LABWARE }),
...blowoutSingleToTrash,
// use the dispense > air gap here before moving to trash
airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
makeMoveToWellHelper('A4', DEST_LABWARE),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
...dropTipHelper(),
Expand Down Expand Up @@ -1057,7 +1055,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('A2', 31),
Expand All @@ -1073,7 +1072,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
touchTipHelper('A3', { labwareId: DEST_LABWARE }),
...blowoutSingleToTrash,
// dispense > air gap since we are about to change the tip
airGapHelper('A3', 3, { labwareId: DEST_LABWARE }), // need to air gap here
makeMoveToWellHelper('A3', DEST_LABWARE),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
...dropTipHelper(),
Expand All @@ -1094,7 +1094,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #3
dispenseAirGapHelper('A4', 31),
Expand All @@ -1105,7 +1106,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
touchTipHelper('A4', { labwareId: DEST_LABWARE }),
...blowoutSingleToTrash,
// use the dispense > air gap here before moving to trash
airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
makeMoveToWellHelper('A4', DEST_LABWARE),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
// skip blowout into trash b/c we're about to drop tip anyway
Expand Down Expand Up @@ -1143,7 +1145,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('A2', 31),
Expand Down Expand Up @@ -1174,7 +1177,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #3
dispenseAirGapHelper('A4', 31),
Expand All @@ -1185,7 +1189,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
touchTipHelper('A4', { labwareId: DEST_LABWARE }),
...blowoutSingleToTrash,
// use the dispense > air gap here before moving to trash
airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
makeMoveToWellHelper('A4', DEST_LABWARE),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
...dropTipHelper(),
Expand Down Expand Up @@ -1220,7 +1225,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('A2', 31),
Expand Down Expand Up @@ -1252,7 +1258,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #3
dispenseAirGapHelper('A4', 31),
Expand All @@ -1265,7 +1272,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
blowoutSingleToSourceA1,
// use the dispense > air gap here before moving to trash since it is the final dispense in the step
// dispense > air gap from source since blowout location is source
airGapHelper('A1', 3),
makeMoveToWellHelper('A1'),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
...dropTipHelper(),
Expand Down Expand Up @@ -1302,7 +1310,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('A2', 31),
Expand All @@ -1319,7 +1328,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
// blowout location is source so need to blowout
blowoutSingleToSourceA1,
// dispense > air gap so no liquid drops off the tip as pipette moves from source well to trash
airGapHelper('A1', 3),
makeMoveToWellHelper('A1'),
makeAirGapHelper(3),
// delay after aspirating air
delayCommand(11),
// just drop the tip in the trash
Expand All @@ -1341,7 +1351,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #3
dispenseAirGapHelper('A4', 31),
Expand All @@ -1353,7 +1364,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
// blowout location is source so need to blowout
blowoutSingleToSourceA1,
// dispense > air gap so no liquid drops off the tip as pipette moves from source well to trash
airGapHelper('A1', 3),
makeMoveToWellHelper('A1'),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
...dropTipHelper(),
Expand Down Expand Up @@ -1390,7 +1402,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('A2', 31),
Expand Down Expand Up @@ -1422,7 +1435,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #3
dispenseAirGapHelper('A4', 31),
Expand All @@ -1434,7 +1448,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
// use the dispense > air gap here before moving to trash
// since it is the final dispense in the step
blowoutSingleToSourceA1,
airGapHelper('A1', 3),
makeMoveToWellHelper('A1'),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
...dropTipHelper(),
Expand Down Expand Up @@ -1469,7 +1484,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('A2', 31),
Expand Down Expand Up @@ -1501,7 +1517,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #3
dispenseAirGapHelper('A4', 31),
Expand All @@ -1514,7 +1531,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
blowoutSingleToDestA4,
// use the dispense > air gap here before moving to trash
// since it is the final dispense in the step
airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
makeMoveToWellHelper('A4', DEST_LABWARE),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
...dropTipHelper(),
Expand Down Expand Up @@ -1551,7 +1569,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('A2', 31),
Expand All @@ -1568,7 +1587,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
// blowout location is dest so we gotta blowout
blowoutSingleToDestA3,
// dispense > air gap so no liquid drops off the tip as pipette moves from destination well to trash
airGapHelper('A3', 3, { labwareId: DEST_LABWARE }),
makeMoveToWellHelper('A3', DEST_LABWARE),
makeAirGapHelper(3),
// dispense delay
delayCommand(11),
// just drop the tip in the trash
Expand All @@ -1590,7 +1610,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #3
dispenseAirGapHelper('A4', 31),
Expand All @@ -1602,7 +1623,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
// use the dispense > air gap here before moving to trash
// since it is the final dispense in the step
blowoutSingleToDestA4,
airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
makeMoveToWellHelper('A4', DEST_LABWARE),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
...dropTipHelper(),
Expand Down Expand Up @@ -1639,7 +1661,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #1
dispenseAirGapHelper('A2', 31),
Expand Down Expand Up @@ -1671,7 +1694,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
},
}),
// aspirate > air gap
airGapHelper('A1', 31),
makeMoveToWellHelper('A1'),
makeAirGapHelper(31),
delayCommand(11),
// dispense #3
dispenseAirGapHelper('A4', 31),
Expand All @@ -1684,7 +1708,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
blowoutSingleToDestA4,
// use the dispense > air gap here before moving to trash
// since it is the final dispense in the step
airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
makeMoveToWellHelper('A4', DEST_LABWARE),
makeAirGapHelper(3),
delayCommand(11),
// since we used dispense > air gap, drop the tip
...dropTipHelper(),
Expand Down
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