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fix(api): add stopped state so a stop request doesn't mean the gripper needs to re-home #16853

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merged 1 commit into from
Nov 15, 2024
Merged

fix(api): add stopped state so a stop request doesn't mean the gripper needs to re-home #16853

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1 change: 1 addition & 0 deletions api/src/opentrons/hardware_control/backends/ot3utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -652,6 +652,7 @@ def update(
FirmwareGripperjawState.force_controlling_home: GripperJawState.HOMED_READY,
FirmwareGripperjawState.force_controlling: GripperJawState.GRIPPING,
FirmwareGripperjawState.position_controlling: GripperJawState.HOLDING,
FirmwareGripperjawState.stopped: GripperJawState.STOPPED,
}


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2 changes: 2 additions & 0 deletions api/src/opentrons/hardware_control/types.py
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Expand Up @@ -625,6 +625,8 @@ class GripperJawState(enum.Enum):
#: the gripper is actively force-control gripping something
HOLDING = enum.auto()
#: the gripper is in position-control mode
STOPPED = enum.auto()
#: the gripper has been homed before but is stopped now


class InstrumentProbeType(enum.Enum):
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1 change: 1 addition & 0 deletions hardware/opentrons_hardware/firmware_bindings/constants.py
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Expand Up @@ -461,3 +461,4 @@ class GripperJawState(int, Enum):
force_controlling_home = 0x1
force_controlling = 0x2
position_controlling = 0x3
stopped = 0x4
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