feat(gripper): specify whether or not a gripper move should stay engaged after an error #13214
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@@ Coverage Diff @@
## internal-release_0.14.0 #13214 +/- ##
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+ Coverage 72.52% 73.17% +0.64%
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Files 2369 2314 -55
Lines 65484 63911 -1573
Branches 7204 6996 -208
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- Hits 47495 46768 -727
+ Misses 16251 15426 -825
+ Partials 1738 1717 -21
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Overview
If the gripper is actively gripping a labware when a protocol gets terminated prematurely, we want to make sure the gripper doesn't just release the labware wherever as part of the protocol cleanup process, instead, we should allow user to recover the labware safely. The first step to achieving this is to tell firmware whether the current move is a labware-grip or an idling grip by using the
stay engagedparam in the GripperGripRequest.Gripper firmware will use this information to keep the motor engaged if it receives an error while holding a labware.
Next step is to retrieve the real-time gripper jaw state from the firmware. We can then use it to determine the proper cleanup process for the gripper after a protocol ends.
Changes in this PR need to be used together with Opentrons/ot3-firmware#711
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