feat(abr-testing): Empty well protocol

abr-testing/abr_testing/protocols/test_protocols/empty_wells.py

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+"""Mix Protocol with Error Recovery Turned Off."""
+from opentrons.protocol_api import (
+    ProtocolContext,
+    ParameterContext,
+)
+from opentrons.hardware_control.types import Axis
+
+metadata = {
+    "protocolName": "Empty Well without Error Recovery",
+    "author": "Rhyann Clarke <[email protected]>",
+}
+requirements = {
+    "robotType": "Flex",
+    "apiLevel": "2.24",
+}
+
+
+def add_parameters(parameters: ParameterContext) -> None:
+    """Add parameters for the Mix protocol."""
+    parameters.add_str(
+        variable_name="left_mount",
+        display_name="Left Mount",
+        description="Pipette Type on Left Mount.",
+        choices=[
+            {"display_name": "8ch 50ul", "value": "flex_8channel_50"},
+            {"display_name": "8ch 1000ul", "value": "flex_8channel_1000"},
+            {"display_name": "1ch 50ul", "value": "flex_1channel_50"},
+            {"display_name": "1ch 1000ul", "value": "flex_1channel_1000"},
+            {"display_name": "96ch 1000ul", "value": "flex_96channel_1000"},
+            {"display_name": "None", "value": "none"},
+        ],
+        default="flex_96channel_1000",
+    )
+    parameters.add_str(
+        variable_name="tip_type",
+        display_name="Tip Type",
+        description="Tip Type to use for the test.",
+        choices=[
+            {"display_name": "50 uL", "value": "opentrons_flex_96_tiprack_50ul"},
+            {
+                "display_name": "50 uL Filter",
+                "value": "opentrons_flex_96_filtertiprack_50ul",
+            },
+            {
+                "display_name": "200 µL",
+                "value": "opentrons_flex_96_tiprack_200ul",
+            },
+            {"display_name": "1000 µL", "value": "opentrons_flex_96_tiprack_1000ul"},
+            {
+                "display_name": "1000 µL FILTER",
+                "value": "opentrons_flex_96_filtertiprack_1000ul",
+            },
+        ],
+        default="opentrons_flex_96_tiprack_1000ul",
+    )
+    parameters.add_str(
+        variable_name="labware_type",
+        display_name="Labware Type",
+        choices=[
+            {
+                "display_name": "12 well reservoir",
+                "value": "opentrons_tough_12_reservoir_22ml",
+            },
+            {
+                "display_name": "PCR Plate",
+                "value": "opentrons_96_wellplate_200ul_pcr_full_skirt",
+            },
+            {
+                "display_name": "Corning 6 Plate",
+                "value": "corning_6_wellplate_16.8ml_flat",
+            },
+            {
+                "display_name": "1 Well Reservoir",
+                "value": "opentrons_tough_1_reservoir_300ml",
+            },
+        ],
+        default="opentrons_tough_1_reservoir_300ml",
+    )
+    parameters.add_float(
+        variable_name="start_z_height",
+        display_name="Start Dist from Well Bottom",
+        default=0.5,
+        minimum=0,
+        maximum=10,
+    )
+    parameters.add_float(
+        variable_name="increment",
+        display_name="Increment Distance",
+        default=0.2,
+        minimum=0.1,
+        maximum=1,
+    )
+
+
+def home_axes_only(ctx: ProtocolContext) -> None:
+    """Home axes and no plungers."""
+    hw_api = ctx._core.get_hardware()
+    hw_api.home([Axis.Z_L, Axis.Z_R, Axis.X, Axis.Y])
+
+
+def run(ctx: ProtocolContext) -> None:
+    """Empty well."""
+    labware_type = ctx.params.labware_type  # type: ignore[attr-defined]
+    labware = ctx.load_labware(labware_type, "D2")
+    pipette_type = ctx.params.left_mount  # type: ignore[attr-defined]
+    start_z_height = ctx.params.start_z_height  # type: ignore[attr-defined]
+    increment = ctx.params.increment  # type: ignore[attr-defined]
+    waste = ctx.load_waste_chute()
+    tip_rack_type = ctx.params.tip_type  # type: ignore[attr-defined]
+    if int(pipette_type.split("_")[2]) > 8:
+        tiprack_adapter = ctx.load_adapter("opentrons_flex_96_tiprack_adapter", "C2")
+        tip_rack = tiprack_adapter.load_labware(tip_rack_type)
+    else:
+        tip_rack = ctx.load_labware(tip_rack_type, "C2")  # type: ignore[attr-defined]
+    tip_volume = float(tip_rack_type.split("_")[-1].split("ul")[0])
+    pipette = ctx.load_instrument(pipette_type, "left", tip_racks=[tip_rack])
+
+    pipette.pick_up_tip()
+    well = labware["A1"]
+    pipette.aspirate(100, well.bottom(z=start_z_height))
+    NO_OVERPRESSURE = True
+    total_vol = 100
+    z_height = start_z_height
+    while NO_OVERPRESSURE:
+        z_height -= increment
+        ctx.comment(f"Z height {z_height}")
+        try:
+            print(z_height)
+            if (tip_volume - pipette.current_volume) >= 5:
+                pipette.aspirate(100, well.bottom(z=z_height))
+                total_vol += 100
+            else:
+                break
+        except Exception as e:
+            msg = str(e)
+            if "pressure" in msg:
+                ctx.comment(f"error caught: {e}")
+                adjusted_height = z_height + increment
+                pipette._retract()
+                try:
+                    pipette._retract()
+                    pipette.blow_out(waste)
+                    pipette.blow_out(waste)
+                    pipette.blow_out(waste)
+                    pipette.blow_out(waste)
+                    aspirate_vol = 100
+                    pipette.aspirate(aspirate_vol, well.bottom(z=adjusted_height))
+                except Exception as e:
+                    ctx.comment(f"error caught: {e}")
+                    home_axes_only(ctx)
+                    pipette.dispense(pipette.current_volume, waste)
+                    aspirate_vol = 100
+                    pipette.aspirate(aspirate_vol, well.bottom(z=adjusted_height))
+                ctx.comment(
+                    f"Height at overpressure: {z_height} adjusted to {adjusted_height}"
+                )
+                break
+            else:
+                raise
+        if z_height < -5:
+            break