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jeraderjerader
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refactor(step-generation): create airGapInWell compound command (#17786)
This is the 3rd (and final, i think) Pr in a series of PRs that refactors any utils that emit several commands in step-generation into a compound command for py interop.
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‎step-generation/src/__tests__/airGapInWell.test.ts

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import { beforeEach, describe, it, expect } from 'vitest'
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import {
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makeContext,
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getRobotStateWithTipStandard,
5+
getSuccessResult,
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SOURCE_LABWARE,
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DEST_LABWARE,
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} from '../fixtures'
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import { airGapInWell } from '../commandCreators/compound'
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import type { RobotState, InvariantContext } from '../types'
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describe('airGapInWell', () => {
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let invariantContext: InvariantContext
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let robotStateWithTip: RobotState
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beforeEach(() => {
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invariantContext = makeContext()
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robotStateWithTip = getRobotStateWithTipStandard(invariantContext)
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})
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it('air gap in 1 well for transfer', () => {
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const args = {
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flowRate: 10,
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offsetFromBottomMm: 1,
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pipetteId: 'p10SingleId',
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volume: 10,
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labwareId: SOURCE_LABWARE,
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wellName: 'B1',
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}
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const result = airGapInWell(args, invariantContext, robotStateWithTip)
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const res = getSuccessResult(result)
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expect(res.commands).toEqual([
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{
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commandType: 'moveToWell',
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key: expect.any(String),
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params: {
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labwareId: 'sourcePlateId',
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pipetteId: 'p10SingleId',
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wellLocation: {
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offset: {
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x: 0,
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y: 0,
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z: 1,
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},
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origin: 'bottom',
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},
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wellName: 'B1',
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},
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},
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{
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commandType: 'prepareToAspirate',
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key: expect.any(String),
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params: {
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pipetteId: 'p10SingleId',
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},
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},
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{
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commandType: 'airGapInPlace',
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key: expect.any(String),
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params: {
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flowRate: 10,
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pipetteId: 'p10SingleId',
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volume: 10,
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},
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},
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])
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})
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it('air gap for multi wells for consolidate', () => {
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const args = {
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labwareId: DEST_LABWARE,
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wellName: 'A1',
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flowRate: 10,
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offsetFromBottomMm: 1,
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pipetteId: 'p10SingleId',
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volume: 10,
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}
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78+
const result = airGapInWell(args, invariantContext, robotStateWithTip)
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const res = getSuccessResult(result)
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expect(res.commands).toEqual([
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{
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commandType: 'moveToWell',
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key: expect.any(String),
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params: {
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labwareId: 'destPlateId',
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pipetteId: 'p10SingleId',
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wellLocation: {
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offset: {
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x: 0,
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y: 0,
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z: 1,
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},
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origin: 'bottom',
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},
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wellName: 'A1',
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},
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},
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{
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commandType: 'prepareToAspirate',
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key: expect.any(String),
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params: {
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pipetteId: 'p10SingleId',
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},
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},
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{
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commandType: 'airGapInPlace',
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key: expect.any(String),
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params: {
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flowRate: 10,
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pipetteId: 'p10SingleId',
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volume: 10,
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},
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},
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])
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})
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})

‎step-generation/src/commandCreators/compound/airGapInWell.ts

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import { curryCommandCreator, reduceCommandCreators } from '../../utils'
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import { airGapInPlace, moveToWell, prepareToAspirate } from '../atomic'
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import type { CommandCreator, CurriedCommandCreator } from '../../types'
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interface AirGapInWellArgs {
6+
flowRate: number
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offsetFromBottomMm: number
8+
pipetteId: string
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volume: number
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labwareId: string
11+
wellName: string
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}
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14+
export const airGapInWell: CommandCreator<AirGapInWellArgs> = (
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args,
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invariantContext,
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prevRobotState
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) => {
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const {
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labwareId,
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wellName,
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flowRate,
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offsetFromBottomMm,
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pipetteId,
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volume,
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} = args
27+
28+
const commandCreators: CurriedCommandCreator[] = [
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curryCommandCreator(moveToWell, {
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pipetteId,
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labwareId,
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wellName,
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wellLocation: {
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origin: 'bottom',
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offset: {
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z: offsetFromBottomMm,
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x: 0,
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y: 0,
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},
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},
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}),
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curryCommandCreator(prepareToAspirate, {
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pipetteId,
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}),
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curryCommandCreator(airGapInPlace, {
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pipetteId,
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volume,
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flowRate,
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}),
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]
51+
52+
return reduceCommandCreators(
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commandCreators,
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invariantContext,
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prevRobotState
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)
57+
}

‎step-generation/src/commandCreators/compound/index.ts

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@ export { absorbanceReaderCloseInitialize } from './absorbanceReaderCloseInitiali
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export { absorbanceReaderCloseRead } from './absorbanceReaderCloseRead'
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export { airGapInTrash } from './airGapInTrash'
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export { airGapInWasteChute } from './airGapInWasteChute'
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export { airGapInWell } from './airGapInWell'
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export { blowOutInTrash } from './blowOutInTrash'
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export { blowOutInWasteChute } from './blowOutInWasteChute'
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export { consolidate } from './consolidate'

‎step-generation/src/utils/misc.ts

Lines changed: 35 additions & 72 deletions
Original file line numberDiff line numberDiff line change
@@ -14,21 +14,21 @@ import {
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OT2_ROBOT_TYPE,
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FLEX_ROBOT_TYPE,
1616
} from '@opentrons/shared-data'
17+
import { ZERO_OFFSET } from '../constants'
1718
import { reduceCommandCreators } from './index'
1819
import {
19-
airGapInPlace,
2020
dispense,
2121
moveToAddressableArea,
2222
moveToWell,
23-
prepareToAspirate,
2423
} from '../commandCreators/atomic'
2524
import {
26-
airGapInWasteChute,
27-
blowOutInWasteChute,
28-
dispenseInWasteChute,
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airGapInTrash,
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blowOutInTrash,
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dispenseInTrash,
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airGapInWell,
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airGapInWasteChute,
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blowOutInWasteChute,
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dispenseInWasteChute,
3232
} from '../commandCreators/compound'
3333
import { blowout } from '../commandCreators/atomic/blowout'
3434
import { curryCommandCreator } from './curryCommandCreator'
@@ -55,7 +55,6 @@ import type {
5555
RobotState,
5656
SourceAndDest,
5757
} from '../types'
58-
import { ZERO_OFFSET } from '../constants'
5958
export const AIR: '__air__' = '__air__'
6059
export const SOURCE_WELL_BLOWOUT_DESTINATION: 'source_well' = 'source_well'
6160
export const DEST_WELL_BLOWOUT_DESTINATION: 'dest_well' = 'dest_well'
@@ -450,11 +449,11 @@ export function createTipLiquidState<T>(
450449
}
451450
// always return destination unless the blowout location is the source
452451
export const getDispenseAirGapLocation = (args: {
453-
blowoutLocation: string | null | undefined
454-
sourceLabware: string
455452
destLabware: string
456-
sourceWell: string
457453
destWell: string
454+
sourceWell?: string
455+
sourceLabware?: string
456+
blowoutLocation?: string | null
458457
}): {
459458
dispenseAirGapLabware: string
460459
dispenseAirGapWell: string
@@ -466,12 +465,18 @@ export const getDispenseAirGapLocation = (args: {
466465
sourceWell,
467466
destWell,
468467
} = args
469-
return blowoutLocation === SOURCE_WELL_BLOWOUT_DESTINATION
468+
return blowoutLocation === SOURCE_WELL_BLOWOUT_DESTINATION &&
469+
// note: sourceLabware & sourceWell != null for air gap in a transfer only
470+
// since transfer allows you to specify the blowout location as source well
471+
sourceLabware != null &&
472+
sourceWell != null
470473
? {
471474
dispenseAirGapLabware: sourceLabware,
472475
dispenseAirGapWell: sourceWell,
473476
}
474477
: {
478+
// this case is for transfer and consolidate when blowout location is NOT
479+
// in a source well
475480
dispenseAirGapLabware: destLabware,
476481
dispenseAirGapWell: destWell,
477482
}
@@ -730,68 +735,26 @@ export const airGapHelper: CommandCreator<AirGapArgs> = (
730735

731736
let commands: CurriedCommandCreator[] = []
732737
if (trashOrLabware === 'labware' && destWell != null) {
733-
// when aspirating out of 1 well for transfer
734-
if (sourceId != null && sourceWell != null) {
735-
const {
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dispenseAirGapLabware,
737-
dispenseAirGapWell,
738-
} = getDispenseAirGapLocation({
739-
blowoutLocation: blowOutLocation,
740-
sourceLabware: sourceId,
741-
destLabware: destinationId,
742-
sourceWell,
743-
destWell: destWell,
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})
745-
746-
commands = [
747-
curryCommandCreator(moveToWell, {
748-
pipetteId,
749-
labwareId: dispenseAirGapLabware,
750-
wellName: dispenseAirGapWell,
751-
wellLocation: {
752-
origin: 'bottom',
753-
offset: {
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z: offsetFromBottomMm,
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x: 0,
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y: 0,
757-
},
758-
},
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}),
760-
curryCommandCreator(prepareToAspirate, {
761-
pipetteId,
762-
}),
763-
curryCommandCreator(airGapInPlace, {
764-
pipetteId,
765-
volume,
766-
flowRate,
767-
}),
768-
]
769-
// when aspirating out of multi wells for consolidate
770-
} else {
771-
commands = [
772-
curryCommandCreator(moveToWell, {
773-
pipetteId,
774-
labwareId: destinationId,
775-
wellName: destWell,
776-
wellLocation: {
777-
origin: 'bottom',
778-
offset: {
779-
z: offsetFromBottomMm,
780-
x: 0,
781-
y: 0,
782-
},
783-
},
784-
}),
785-
curryCommandCreator(prepareToAspirate, {
786-
pipetteId,
787-
}),
788-
curryCommandCreator(airGapInPlace, {
789-
pipetteId,
790-
volume,
791-
flowRate,
792-
}),
793-
]
794-
}
738+
const {
739+
dispenseAirGapLabware,
740+
dispenseAirGapWell,
741+
} = getDispenseAirGapLocation({
742+
blowoutLocation: blowOutLocation,
743+
sourceLabware: sourceId,
744+
destLabware: destinationId,
745+
sourceWell,
746+
destWell: destWell,
747+
})
748+
commands = [
749+
curryCommandCreator(airGapInWell, {
750+
flowRate,
751+
offsetFromBottomMm,
752+
pipetteId,
753+
labwareId: dispenseAirGapLabware,
754+
wellName: dispenseAirGapWell,
755+
volume,
756+
}),
757+
]
795758
} else if (trashOrLabware === 'wasteChute') {
796759
commands = [
797760
curryCommandCreator(airGapInWasteChute, {

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