fix(hardware): correct duration calculation from the change in z-rais…

…e post LLD success (#17434)

…as still raising too far out of the well

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# Overview

We had updated the distance that the z raises after an LLD success but
did not update the duration calculation so the z was still raising too
far out of the liquid.

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hardware/opentrons_hardware/hardware_control/tool_sensors.py

@@ -337,7 +337,7 @@ async def liquid_probe(
         distance={head_node: float64(z_offset_for_plunger_prep)},
         velocity={head_node: float64(-1 * mount_speed)},
         acceleration={},
-        duration=float64(max_z_distance / mount_speed),
+        duration=float64(z_offset_for_plunger_prep / mount_speed),
         present_nodes=[head_node],
     )
 

hardware/tests/opentrons_hardware/hardware_control/test_tool_sensors.py

@@ -10,6 +10,7 @@
     ReadFromSensorResponse,
     Acknowledgement,
     BindSensorOutputRequest,
+    AddLinearMoveRequest,
 )
 from opentrons_hardware.firmware_bindings.messages import MessageDefinition
 from opentrons_hardware.firmware_bindings.messages.payloads import (
@@ -49,6 +50,7 @@
     SensorThresholdMode,
     SensorOutputBinding,
 )
+from opentrons_hardware.hardware_control.constants import interrupts_per_sec
 from opentrons_hardware.sensors.scheduler import SensorScheduler
 from opentrons_hardware.sensors.sensor_driver import SensorDriver
 from opentrons_hardware.sensors.types import SensorDataType
@@ -214,6 +216,11 @@ def get_responder() -> Iterator[
         yield check_third_move
 
     responder_getter = get_responder()
+    z_offset_for_plunger_prep = 2.0
+    mount_speed = 10.0
+    expected_raise_duration = (
+        interrupts_per_sec * z_offset_for_plunger_prep / mount_speed
+    )
 
     def move_responder(
         node_id: NodeId, message: MessageDefinition
@@ -223,6 +230,12 @@ def move_responder(
             responder = next(responder_getter)
             return responder(node_id, message)
         else:
+            if isinstance(message, AddLinearMoveRequest):
+                if message.payload.velocity_mm.value < 0:
+                    # value < 0 means the raise z move
+                    assert message.payload.duration.value == expected_raise_duration
+                    velocity = int(-1 * mount_speed / interrupts_per_sec * 2**31)
+                    assert message.payload.velocity_mm.value == velocity
             return []
 
     message_send_loopback.add_responder(move_responder)
@@ -232,12 +245,12 @@ def move_responder(
         tool=target_node,
         head_node=motor_node,
         max_p_distance=70,
-        mount_speed=10,
+        mount_speed=mount_speed,
         plunger_speed=8,
         threshold_pascals=threshold_pascals,
         plunger_impulse_time=0.2,
         num_baseline_reads=20,
-        z_offset_for_plunger_prep=2.0,
+        z_offset_for_plunger_prep=z_offset_for_plunger_prep,
         sensor_id=SensorId.S0,
     )
     assert position[motor_node].positions_only()[0] == 14