fix(hardware-testing, api): FIx issues with the QC diagnostics script of the Flex Stacker. (#18931)

Author: vegano1

api/src/opentrons/drivers/flex_stacker/types.py

@@ -136,6 +136,10 @@ def __str__(self) -> str:
         """Convert to tag for clear logging."""
         return self.name.lower()
 
+    def polarity(self) -> str:
+        """Convert to polarity tag for testing."""
+        return "positive" if self == Direction.EXTEND else "negative"
+
     def opposite(self) -> "Direction":
         """Get opposite direction."""
         return Direction.EXTEND if self == Direction.RETRACT else Direction.RETRACT

api/src/opentrons/hardware_control/modules/flex_stacker.py

@@ -84,8 +84,10 @@
 # Should put the bottom of the plate this mm below the latch when storing.
 LATCH_CLEARANCE = 2.5
 
-
-# Configs
+# TOF Baseline Configs
+# These are generated manually with the help of the tof_analysis.py tool
+# Which can be found in `hardware_testing/tools/tof-analysis/README.md` where
+# it goes over using use the tool.
 TOF_DETECTION_CONFIG = {
     TOFSensor.X: {
         Direction.EXTEND: TOFDetection(
@@ -124,10 +126,11 @@
     StackerAxis.Z: StallGuardParams(StackerAxis.Z, True, 0),
 }
 
+# Motion Parameter defaults
 STACKER_MOTION_CONFIG = {
     StackerAxis.X: {
         "home": AxisParams(
-            run_current=1.5,  # mAmps
+            run_current=1.5,  # Amps RMS
             hold_current=0.75,
             move_params=MoveParams(
                 max_speed=10.0,  # mm/s

hardware-testing/hardware_testing/modules/flex_stacker/flex_stacker_qc/test_tof_basic.py

@@ -84,8 +84,7 @@ async def test_get_tof_sensor_histogram(
 async def run(stacker: FlexStacker, report: CSVReport, section: str) -> None:
     """Run."""
     if not stacker.is_simulated:
-        ui.get_user_ready("Make sure both TOF sensors are installed.")
-        ui.get_user_ready("Make sure there is no labware in the stacker.")
+        ui.get_user_ready("Make sure there is no labware in the stacker")
 
     print("Homing stacker X and Z axis.")
     await stacker.home_axis(StackerAxis.X, Direction.EXTEND)

hardware-testing/hardware_testing/modules/flex_stacker/flex_stacker_qc/test_tof_functional.py

@@ -10,6 +10,8 @@
     CSVResult,
 )
 
+from .utils import verify_platform_location
+
 from opentrons.hardware_control.modules.flex_stacker import FlexStacker
 from opentrons.drivers.flex_stacker.types import (
     Direction,
@@ -95,12 +97,8 @@ async def test_tof_sensors_labware_detection(
 
 async def run(stacker: FlexStacker, report: CSVReport, section: str) -> None:
     """Run."""
-    if not stacker.is_simulated:
-        ui.get_user_ready("Make sure both TOF sensors are installed.")
-
     print("Homing stacker X and Z axis.")
-    await stacker.home_axis(StackerAxis.X, Direction.EXTEND)
-    await stacker.home_axis(StackerAxis.Z, Direction.RETRACT)
+    await verify_platform_location(stacker)
 
     print("Test that we have no labware on the X")
     ui.get_user_ready("Make sure there is no labware on the stacker gripper position")

hardware-testing/hardware_testing/modules/flex_stacker/flex_stacker_qc/test_x_axis_basic.py

@@ -8,7 +8,7 @@
     CSVResult,
 )
 
-from .utils import test_limit_switches_per_direction
+from .utils import test_limit_switches_per_direction, verify_platform_location
 from opentrons.hardware_control.modules.flex_stacker import FlexStacker
 from opentrons.drivers.flex_stacker.types import StackerAxis, Direction
 
@@ -39,14 +39,16 @@ async def test_platform_sensors_for_direction(
     """Test platform sensors for a given direction."""
     ui.print_header(f"Platform Sensor - {direction} direction")
     sensor_result = await stacker._driver.get_platform_sensor(direction)
+    polarity = direction.polarity()
+    opposite_polarity = direction.opposite().polarity()
     opposite_result = not await stacker._driver.get_platform_sensor(
         direction.opposite()
     )
-    print(f"{direction} sensor triggered: {sensor_result}")
-    print(f"{direction.opposite()} sensor untriggered: {opposite_result}")
+    print(f"{polarity} sensor triggered: {sensor_result}")
+    print(f"{opposite_polarity} sensor untriggered: {opposite_result}")
     report(
         section,
-        f"platform-sensor-trigger-{direction}-untrigger-{direction.opposite()}",
+        f"platform-sensor-trigger-{polarity}-untrigger-{opposite_polarity}",
         [
             sensor_result,
             opposite_result,
@@ -57,6 +59,8 @@ async def test_platform_sensors_for_direction(
 
 async def run(stacker: FlexStacker, report: CSVReport, section: str) -> None:
     """Run."""
+    await verify_platform_location(stacker)
+
     await test_limit_switches_per_direction(
         stacker, StackerAxis.X, Direction.EXTEND, report, section
     )