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wweiyewweiye
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add blowout and fix use lifetime robot
1 parent 94badb0 commit 857e469

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+232
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‎hardware-testing/hardware_testing/scripts/faster_plunger_lifetime_test.py

Lines changed: 232 additions & 104 deletions
Original file line numberDiff line numberDiff line change
@@ -29,6 +29,8 @@ class TestConfig:
2929

3030
simulate: bool
3131
pipette: Literal[200, 1000]
32+
blowout:int
33+
blowoutnum:int
3234

3335

3436
class TestData(TypedDict):
@@ -70,6 +72,10 @@ async def main(args: argparse.Namespace, cfg: TestConfig) -> None:
7072
stall_detection_enable=False,
7173
)
7274
ax = Axis.P_L
75+
xxx = Axis.X
76+
yyy = Axis.Y
77+
Z1 = Axis.Z_L
78+
Z2 = Axis.Z_R
7379
mount = OT3Mount.LEFT
7480
settings = helpers_ot3.get_gantry_load_per_axis_motion_settings_ot3(api, ax)
7581
settings.max_speed = 25
@@ -78,7 +84,7 @@ async def main(args: argparse.Namespace, cfg: TestConfig) -> None:
7884
default_current = settings.run_current
7985
default_speed = settings.max_speed
8086
default_acceleration = 100
81-
top, bottom, _, _ = helpers_ot3.get_plunger_positions_ot3(api, mount)
87+
top, bottom, blow_out, _ = helpers_ot3.get_plunger_positions_ot3(api, mount)
8288
print(f"Settings: {settings}")
8389

8490
async def position_check() -> bool:
@@ -87,9 +93,9 @@ async def position_check() -> bool:
8793
return aligned
8894

8995
await api.cache_instruments()
90-
await api.home_z(OT3Mount.LEFT)
96+
#await api.home_z(OT3Mount.LEFT)
9197
# LOOP THROUGH CURRENTS + SPEEDS
92-
await api.home()
98+
await api.home([xxx,yyy,Z1,Z2])
9399
today = datetime.now().strftime("%m-%d-%y_%H-%M")
94100
pip_id = api.attached_pipettes[Mount.LEFT]["pipette_id"]
95101
with open(
@@ -109,51 +115,112 @@ async def position_check() -> bool:
109115
try:
110116
currents = list(CURRENTS_SPEEDS.keys())
111117
for cycle in range(1, args.cycles + 1):
112-
print(f"Cycle: {cycle}")
113-
for current in sorted(currents, reverse=True):
114-
speed = CURRENTS_SPEEDS[current]
115-
# HOME
116-
print("homing...")
117-
await api.home([ax])
118-
119-
print(f"run-current set to {current} amps")
120-
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
121-
api,
122-
ax,
123-
run_current=current,
124-
)
125-
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
126-
api,
127-
ax,
128-
default_max_speed=speed,
129-
acceleration=default_acceleration,
130-
)
131-
# MOVE DOWN
132-
print(f"moving down {bottom} mm at {speed} mm/sec")
133-
position_checked = await position_check()
134-
print(f"position checked: {position_checked}")
135-
try:
136-
await helpers_ot3.move_plunger_absolute_ot3(
137-
api, mount, bottom, speed=speed, motor_current=current
118+
119+
if cycle % cfg.blowoutnum == 0 and cfg.blowout == 2:
120+
print(f"Cycle: {cycle}")
121+
for current in sorted(currents, reverse=True):
122+
speed = CURRENTS_SPEEDS[current]
123+
# HOME
124+
print("homing...")
125+
await api.home([ax])
126+
127+
print(f"run-current set to {current} amps")
128+
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
129+
api,
130+
ax,
131+
run_current=current,
138132
)
139-
down_passed = await position_check()
140-
test_data["time_sec"] = time.time() - start_time
141-
test_data["cycle"] = cycle
142-
test_data["position"] = "bottom"
143-
test_data["position_check"] = down_passed
144-
test_data["stall"] = "NONE"
145-
print(test_data)
146-
writer.writerow(test_data)
147-
csvfile.flush()
148-
except Exception as e:
149-
print("STALL DETECTION")
150-
down_passed = await position_check()
151-
test_data["position_check"] = down_passed
152-
test_data["stall"] = str("Failed to move plunger down")
153-
test_data["error"] = str(e)
154-
print(test_data)
155-
writer.writerow(test_data)
156-
csvfile.flush()
133+
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
134+
api,
135+
ax,
136+
default_max_speed=speed,
137+
acceleration=default_acceleration,
138+
)
139+
# MOVE DOWN
140+
print(f"moving down {blow_out} mm at {speed} mm/sec")
141+
position_checked = await position_check()
142+
print(f"position checked: {position_checked}")
143+
try:
144+
await helpers_ot3.move_plunger_absolute_ot3(
145+
api, mount, blow_out, speed=speed, motor_current=current
146+
)
147+
down_passed = await position_check()
148+
test_data["time_sec"] = time.time() - start_time
149+
test_data["cycle"] = cycle
150+
test_data["position"] = "blow_out"
151+
test_data["position_check"] = down_passed
152+
test_data["stall"] = "NONE"
153+
print(test_data)
154+
writer.writerow(test_data)
155+
csvfile.flush()
156+
except Exception as e:
157+
print("STALL DETECTION")
158+
down_passed = await position_check()
159+
test_data["position_check"] = down_passed
160+
test_data["stall"] = str("Failed to move plunger down")
161+
test_data["error"] = str(e)
162+
print(test_data)
163+
writer.writerow(test_data)
164+
csvfile.flush()
165+
print("homing...")
166+
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
167+
api, ax, run_current=default_current
168+
)
169+
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
170+
api,
171+
ax,
172+
default_max_speed=default_speed,
173+
acceleration=default_acceleration,
174+
)
175+
await api._backend.set_active_current(
176+
{Axis.P_L: default_current}
177+
)
178+
await api.home([ax])
179+
await helpers_ot3.move_plunger_absolute_ot3(
180+
api,
181+
mount,
182+
blow_out,
183+
speed=default_speed,
184+
motor_current=default_current,
185+
)
186+
# MOVE UP
187+
print(f"moving up {top} mm at {speed} mm/sec")
188+
position_checked = await position_check()
189+
print(f"position checked: {position_checked}")
190+
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
191+
api,
192+
ax,
193+
run_current=current,
194+
)
195+
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
196+
api,
197+
ax,
198+
default_max_speed=speed,
199+
acceleration=default_acceleration,
200+
)
201+
try:
202+
await helpers_ot3.move_plunger_absolute_ot3(
203+
api, mount, 0, speed=speed, motor_current=current
204+
)
205+
up_passed = await position_check()
206+
test_data["time_sec"] = time.time() - start_time
207+
test_data["cycle"] = cycle
208+
test_data["position"] = "top"
209+
test_data["position_check"] = up_passed
210+
print(test_data)
211+
writer.writerow(test_data)
212+
test_data["stall"] = "NONE"
213+
csvfile.flush()
214+
except Exception as e:
215+
print("STALL DETECTION")
216+
up_passed = await position_check()
217+
test_data["stall"] = str("Failed to move plunger down")
218+
test_data["position_check"] = up_passed
219+
test_data["error"] = str(e)
220+
print(test_data)
221+
writer.writerow(test_data)
222+
csvfile.flush()
223+
# RESET CURRENTS AND HOME
157224
print("homing...")
158225
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
159226
api, ax, run_current=default_current
@@ -164,66 +231,125 @@ async def position_check() -> bool:
164231
default_max_speed=default_speed,
165232
acceleration=default_acceleration,
166233
)
167-
await api._backend.set_active_current(
168-
{Axis.P_L: default_current}
169-
)
234+
await api._backend.set_active_current({Axis.P_L: default_current})
235+
236+
else:
237+
238+
print(f"Cycle: {cycle}")
239+
for current in sorted(currents, reverse=True):
240+
speed = CURRENTS_SPEEDS[current]
241+
# HOME
242+
print("homing...")
170243
await api.home([ax])
171-
await helpers_ot3.move_plunger_absolute_ot3(
244+
245+
print(f"run-current set to {current} amps")
246+
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
172247
api,
173-
mount,
174-
bottom,
175-
speed=default_speed,
176-
motor_current=default_current,
248+
ax,
249+
run_current=current,
250+
)
251+
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
252+
api,
253+
ax,
254+
default_max_speed=speed,
255+
acceleration=default_acceleration,
256+
)
257+
# MOVE DOWN
258+
print(f"moving down {bottom} mm at {speed} mm/sec")
259+
position_checked = await position_check()
260+
print(f"position checked: {position_checked}")
261+
try:
262+
await helpers_ot3.move_plunger_absolute_ot3(
263+
api, mount, bottom, speed=speed, motor_current=current
264+
)
265+
down_passed = await position_check()
266+
test_data["time_sec"] = time.time() - start_time
267+
test_data["cycle"] = cycle
268+
test_data["position"] = "bottom"
269+
test_data["position_check"] = down_passed
270+
test_data["stall"] = "NONE"
271+
print(test_data)
272+
writer.writerow(test_data)
273+
csvfile.flush()
274+
except Exception as e:
275+
print("STALL DETECTION")
276+
down_passed = await position_check()
277+
test_data["position_check"] = down_passed
278+
test_data["stall"] = str("Failed to move plunger down")
279+
test_data["error"] = str(e)
280+
print(test_data)
281+
writer.writerow(test_data)
282+
csvfile.flush()
283+
print("homing...")
284+
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
285+
api, ax, run_current=default_current
286+
)
287+
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
288+
api,
289+
ax,
290+
default_max_speed=default_speed,
291+
acceleration=default_acceleration,
292+
)
293+
await api._backend.set_active_current(
294+
{Axis.P_L: default_current}
295+
)
296+
await api.home([ax])
297+
await helpers_ot3.move_plunger_absolute_ot3(
298+
api,
299+
mount,
300+
bottom,
301+
speed=default_speed,
302+
motor_current=default_current,
303+
)
304+
# MOVE UP
305+
print(f"moving up {top} mm at {speed} mm/sec")
306+
position_checked = await position_check()
307+
print(f"position checked: {position_checked}")
308+
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
309+
api,
310+
ax,
311+
run_current=current,
312+
)
313+
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
314+
api,
315+
ax,
316+
default_max_speed=speed,
317+
acceleration=default_acceleration,
318+
)
319+
try:
320+
await helpers_ot3.move_plunger_absolute_ot3(
321+
api, mount, 0, speed=speed, motor_current=current
322+
)
323+
up_passed = await position_check()
324+
test_data["time_sec"] = time.time() - start_time
325+
test_data["cycle"] = cycle
326+
test_data["position"] = "top"
327+
test_data["position_check"] = up_passed
328+
print(test_data)
329+
writer.writerow(test_data)
330+
test_data["stall"] = "NONE"
331+
csvfile.flush()
332+
except Exception as e:
333+
print("STALL DETECTION")
334+
up_passed = await position_check()
335+
test_data["stall"] = str("Failed to move plunger down")
336+
test_data["position_check"] = up_passed
337+
test_data["error"] = str(e)
338+
print(test_data)
339+
writer.writerow(test_data)
340+
csvfile.flush()
341+
# RESET CURRENTS AND HOME
342+
print("homing...")
343+
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
344+
api, ax, run_current=default_current
177345
)
178-
# MOVE UP
179-
print(f"moving up {top} mm at {speed} mm/sec")
180-
position_checked = await position_check()
181-
print(f"position checked: {position_checked}")
182-
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
183-
api,
184-
ax,
185-
run_current=current,
186-
)
187-
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
188-
api,
189-
ax,
190-
default_max_speed=speed,
191-
acceleration=default_acceleration,
192-
)
193-
try:
194-
await helpers_ot3.move_plunger_absolute_ot3(
195-
api, mount, 0, speed=speed, motor_current=current
346+
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
347+
api,
348+
ax,
349+
default_max_speed=default_speed,
350+
acceleration=default_acceleration,
196351
)
197-
up_passed = await position_check()
198-
test_data["time_sec"] = time.time() - start_time
199-
test_data["cycle"] = cycle
200-
test_data["position"] = "top"
201-
test_data["position_check"] = up_passed
202-
print(test_data)
203-
writer.writerow(test_data)
204-
test_data["stall"] = "NONE"
205-
csvfile.flush()
206-
except Exception as e:
207-
print("STALL DETECTION")
208-
up_passed = await position_check()
209-
test_data["stall"] = str("Failed to move plunger down")
210-
test_data["position_check"] = up_passed
211-
test_data["error"] = str(e)
212-
print(test_data)
213-
writer.writerow(test_data)
214-
csvfile.flush()
215-
# RESET CURRENTS AND HOME
216-
print("homing...")
217-
await helpers_ot3.set_gantry_load_per_axis_current_settings_ot3(
218-
api, ax, run_current=default_current
219-
)
220-
await helpers_ot3.set_gantry_load_per_axis_motion_settings_ot3(
221-
api,
222-
ax,
223-
default_max_speed=default_speed,
224-
acceleration=default_acceleration,
225-
)
226-
await api._backend.set_active_current({Axis.P_L: default_current})
352+
await api._backend.set_active_current({Axis.P_L: default_current})
227353

228354
except Exception as e:
229355
test_data["error"] = str(e)
@@ -237,7 +363,9 @@ async def position_check() -> bool:
237363
parser.add_argument("--cycles", type=int, default=100000)
238364
parser.add_argument("--simulate", action="store_true")
239365
parser.add_argument("--pipette", type=int, choices=[200, 1000], default=200)
366+
parser.add_argument("--blowout", type=int, default=1)
367+
parser.add_argument("--blowoutnum",type=int,default=100)
240368
args = parser.parse_args()
241-
_config = TestConfig(simulate=args.simulate, pipette=args.pipette)
369+
_config = TestConfig(simulate=args.simulate, pipette=args.pipette,blowout=args.blowout,blowoutnum=args.blowoutnum)
242370

243371
asyncio.run(main(args, _config))

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