OpentronsOT2Backend: support the 8-channel pipette#1135
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June 30, 2026 08:27
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First slice of building the 8-channel head into the backend itself. Adds the channel model: _pipette_channel_count (8 for a multi, 1 for a single), _channel_map (per-mount channel blocks, left then right), num_channels derived from it, and _pipette_id_for_channel routed through it. A multi mount now reports 8 channels (0 = back / row A) instead of 1; single-channel setups are unchanged, so the characterization net and the chatterbox tests stay green. Per-column command issuing and the pickup geometry guard build on this next. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…ep 2) Routes pick_up_tips / aspirate / dispense / drop_tips through a new _resolve_pipette_and_primary(ops, use_channels): it maps the channels to the single mount they address (rejecting a mix of mounts) and picks the primary op (lowest nozzle). A multi column op now issues exactly one ot_api command at the primary well while PLR tracks all 8 channels. can_pick_up_tip is likewise routed through the channel map so the multi's channels 1-7 are accepted (previously hardcoded channel 0 = left, 1 = right). The single-channel _get_*_pipette helpers stay - OpentronsOT2Simulator still uses them. Verified in simulation through the chatterbox: one pick_up_tip / one aspirate_in_place / one dispense_in_place for a full 8-channel column, all eight channels tracked, and a cross-mount selection rejected. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
- Remove test_multi_mount_reports_eight_channels: num_channels==9 is already pinned by test_channel_map_multi_mount_is_eight_channels and exercised by the 8-channel column test. - Remove the chatterbox-vs-simulator differential: both backends share the PLR frontend that does the tracking, so they can only diverge by raising, which the full-protocol recording test already guards. - Strip tautological assertEqual(offset_x, offset_x) (x3 in each of test_tip_pick_up and test_tip_drop) and a duplicate well_name assert in test_tip_drop. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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The backend modeled every mount as a single channel, so the OT-2 8-channel pipette could not be driven correctly. This models a multi mount as 8 channels - anchored at channel 0 (back, row A) and filling toward row H at the 9 mm nozzle pitch - and issues one wire command per column for multi-channel pickup, aspirate, and dispense, matching the hardware, which acts on a whole column at once rather than channel by channel. Single-channel pipettes are unchanged: they stay one channel and one command per operation.
Tests cover the channel model (mount -> channel count, channel-0 anchoring) and the per-column wire grouping, run as a dry run against the chatterbox so no hardware or
ot_apiis needed.Stacked on #1132, whose
OpentronsOT2ChatterboxBackendis the dry-run harness these tests use. The self-contained change here is the three commits above that base.🤖 Generated with Claude Code