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feat(hardware-testing): Add current speed test to pipette diagnostic #21855

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feat(hardware-testing): Add current speed test to pipette diagnostic #21855

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7c076ea
add the pipette-current-speed-test to the pipette assembly diagnostic
ryanthecoder Jun 26, 2026
e950965
use this in the gripper current-speed section too
ryanthecoder Jun 26, 2026
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8 changes: 8 additions & 0 deletions hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1660,3 +1660,11 @@ def _is_int(s: str) -> bool:
else:
ctx.pause("扫描失败，请重试" if LOCALIZE else "Failed to scan, try again.")
return default


def enable_stall_detection(api: SyncHardwareAPI, enable: bool) -> None:
"""Toggle stall detection on or off."""
flags = api.hardware_feature_flags
flags.stall_detection_enabled = enable
# for some reason mypy gets the property method but isn't the seeing the setter as a member
api.hardware_feature_flags = flags # type: ignore[attr-defined]
112 changes: 58 additions & 54 deletions hardware-testing/hardware_testing/production_qc_protocols/gripper_assembly_qc_ot3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -211,70 +211,74 @@ def _save_result(tag: str, target_z: float, include_pass_fail: bool) -> bool:
report(section, tag, [target_z, z_enc])
return z_aligned

# LOOP THROUGH CURRENTS + SPEEDS
currents = list(CURRENTS_SPEEDS.keys())
for current in sorted(currents, reverse=True):
speeds = CURRENTS_SPEEDS[current]
for speed in sorted(speeds, reverse=False):
include_pass_fail = current >= MIN_PASS_CURRENT
# HOME
api.home([z_ax])
home_pos = api.gantry_position(OT3Mount.GRIPPER)
# LOWER CURRENT
helpers_ot3.set_gantry_load_per_axis_current_settings_ot3_sync(
api, z_ax, run_current=current
)
helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3_sync(
api, z_ax, default_max_speed=speed
)
api._set_active_current({z_ax: current})
# MOVE DOWN
_save_result(
_get_mount_test_tag(current, speed, "down", "start"),
target_z=home_pos.z,
include_pass_fail=include_pass_fail,
)
api.move_rel(
mount,
Point(z=-Z_AXIS_TRAVEL_DISTANCE),
speed=speed,
expect_stalls=True,
)
down_end_passed = _save_result(
_get_mount_test_tag(current, speed, "down", "end"),
target_z=home_pos.z - Z_AXIS_TRAVEL_DISTANCE,
include_pass_fail=include_pass_fail,
)
if down_end_passed:
# MOVE UP
try:
helpers_ot3.enable_stall_detection(api, False)
# LOOP THROUGH CURRENTS + SPEEDS
currents = list(CURRENTS_SPEEDS.keys())
for current in sorted(currents, reverse=True):
speeds = CURRENTS_SPEEDS[current]
for speed in sorted(speeds, reverse=False):
include_pass_fail = current >= MIN_PASS_CURRENT
# HOME
api.home([z_ax])
home_pos = api.gantry_position(OT3Mount.GRIPPER)
# LOWER CURRENT
helpers_ot3.set_gantry_load_per_axis_current_settings_ot3_sync(
api, z_ax, run_current=current
)
helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3_sync(
api, z_ax, default_max_speed=speed
)
api._set_active_current({z_ax: current})
# MOVE DOWN
_save_result(
_get_mount_test_tag(current, speed, "up", "start"),
target_z=home_pos.z - Z_AXIS_TRAVEL_DISTANCE,
_get_mount_test_tag(current, speed, "down", "start"),
target_z=home_pos.z,
include_pass_fail=include_pass_fail,
)
api.move_rel(
mount,
Point(z=Z_AXIS_TRAVEL_DISTANCE),
Point(z=-Z_AXIS_TRAVEL_DISTANCE),
speed=speed,
expect_stalls=True,
)
up_end_passed = _save_result(
_get_mount_test_tag(current, speed, "up", "end"),
target_z=home_pos.z,
down_end_passed = _save_result(
_get_mount_test_tag(current, speed, "down", "end"),
target_z=home_pos.z - Z_AXIS_TRAVEL_DISTANCE,
include_pass_fail=include_pass_fail,
)
else:
up_end_passed = False
# RESET CURRENTS AND HOME
helpers_ot3.set_gantry_load_per_axis_current_settings_ot3_sync(
api, z_ax, run_current=default_z_current
)
helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3_sync(
api, z_ax, default_max_speed=default_z_speed
)
api.home([z_ax])
if not down_end_passed or not up_end_passed and not api.is_simulator:
break
if down_end_passed:
# MOVE UP
_save_result(
_get_mount_test_tag(current, speed, "up", "start"),
target_z=home_pos.z - Z_AXIS_TRAVEL_DISTANCE,
include_pass_fail=include_pass_fail,
)
api.move_rel(
mount,
Point(z=Z_AXIS_TRAVEL_DISTANCE),
speed=speed,
expect_stalls=True,
)
up_end_passed = _save_result(
_get_mount_test_tag(current, speed, "up", "end"),
target_z=home_pos.z,
include_pass_fail=include_pass_fail,
)
else:
up_end_passed = False
# RESET CURRENTS AND HOME
helpers_ot3.set_gantry_load_per_axis_current_settings_ot3_sync(
api, z_ax, run_current=default_z_current
)
helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3_sync(
api, z_ax, default_max_speed=default_z_speed
)
api.home([z_ax])
if not down_end_passed or not up_end_passed and not api.is_simulator:
break
finally:
helpers_ot3.enable_stall_detection(api, False)


# ----------------- TEST Probe ----------------
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