feat(thermocycler): check closed lid sensor when a move finishes #449
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
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## edge #449 +/- ##
=======================================
Coverage 82.20% 82.20%
=======================================
Files 75 75
Lines 6809 6812 +3
=======================================
+ Hits 5597 5600 +3
Misses 1212 1212
|
pmoegenburg
reviewed
Mar 5, 2024
stm32-modules/include/thermocycler-gen2/thermocycler-gen2/messages.hpp
Outdated
Show resolved
Hide resolved
| @@ -1289,8 +1289,10 @@ class MotorTask { | |||
| motor_util::LidStepper::Position::CLOSED; | |||
| // The overall lid state machine can advance now | |||
| error = handle_lid_state_end(policy); | |||
| // TODO(Frank, Mar-7-2022) check if the lid didn't make it in | |||
| // all the way | |||
| // if the lid isn't actually closed, overwrite error status | |||
There was a problem hiding this comment.
Do we want to do this before the handle_lid_state_end call above?
There was a problem hiding this comment.
I figured it would be easier to overwrite the error value after that function is done, since inside of its scope it doesn't know the desired status of the lid, which in this case is OVERDRIVE
caila-marashaj
changed the title
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Outdated suggestions cannot be applied.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.
Overview
Currently, the thermocycler's optical switches are not checked after opening or closing the lid to make sure that the action was performed successfully. In the case of closing the lid, we want to make sure that there isn't any extra labware obstructing the lid from closing before moving forward with a protocol.
This resolves https://opentrons.atlassian.net/browse/RQA-2303
Changelog
UNEXPECTED_LID_STATE_ERRORmotor_task.hppto throw said error after handling aLidStepperCompletewith lid statusCLOSE_OVERDRIVE, if the lid closed sensor is not triggered