message: fix(robot-server): fix multi channel move in tip length cal
diff: @@ -133,10 +133,17 @@ class TipCalibrationUserFlow:
  pass
  async def move_to_tip_rack(self):
  - point = self._deck[TIP_RACK_SLOT].wells()[0].top().point + \
  + # point safely above target tip well in tip rack
  + pt_above_well = self._deck[TIP_RACK_SLOT].wells()[0].top().point + \
  MOVE_TO_TIP_RACK_SAFETY_BUFFER
  - to_loc = Location(point, None)
  - await self._move(to_loc)
  + if self._tip_origin_pt is not None:
  + # use jogged to x and y offsets only if returning tip to rack
  + await self._move(Location(Point(self._tip_origin_pt.x,
  + self._tip_origin_pt.y,
  + pt_above_well.z),
  + None))
  + else:
  + await self._move(Location(pt_above_well, None))
  async def move_to_reference_point(self):
  to_loc = self._get_reference_point()
  @@ -188,9 +195,7 @@ class TipCalibrationUserFlow:
  self._hw_pipette.critical_point)
  async def _get_current_point(self):
  - cp = self._get_critical_point()
  - return await self._hardware.gantry_position(self._mount,
  - critical_point=cp)
  + return await self._hardware.gantry_position(self._mount)
  async def jog(self, vector):
  await self._hardware.move_rel(mount=self._mount,
  @@ -204,7 +209,8 @@ class TipCalibrationUserFlow:
  self._hw_pipette.update_config_item('pick_up_current', 0.1)
  # grab position of active nozzle for ref when returning tip later
  - self._tip_origin_pt = await self._get_current_point()
  + self._tip_origin_pt = await self._hardware.gantry_position(
  + self._mount, critical_point=self._get_critical_point())
  tip_length = self._get_default_tip_length()
  await self._hardware.pick_up_tip(self._mount, tip_length)
  @@ -254,7 +260,6 @@ class TipCalibrationUserFlow:
  tip_length = self._get_default_tip_length()
  coeff = self._hw_pipette.config.return_tip_height
  to_pt = self._tip_origin_pt - Point(0, 0, tip_length * coeff)
  -
  cp = self._get_critical_point()
  await self._hardware.move_to(mount=self._mount,
  abs_position=to_pt,
  