Reseal: pause / reverse when resistance fluctuates

[campagnola]

Needed modification to the reseal procedure:

• Monitor input resistance, get a baseline + variance
  • Perhaps this requires just looking over the history for this cell? Perhaps we record for 20 seconds to collect this?
• While retracting pipette, react to significant changes in resistance:
  • Increase in resistance indicates that the membrane is stretching. Pause, advance pipette a few microns, and wait for resistance to stabilize before continuing retraction
  • Decrease in resistance indicates membrane is tearing. Pause, retract, and wait for resistance to recover. Potentially retract as far as the original start location.

[campagnola]

How to handle state change logic:

• If we have traveled a long distance (configurable; default 200 um) and the resistance is at or above the initial input resistance, then we have successfully resealed. Retract the pipette out of the slice and switch to outside-out state.
• If we have lost resistance (below 50% of starting input resistance) and can't get it back (after some configurable timeout), then the cell is lost and we transition to fouled state
• Target states should be configurable (for example, user should be able to transition directly to clean rather than fouled, or directly to a nucleus-collection state rather than outside-out)

[jessicatrnh]

I tried to reseal using the Reseal button in the multipatch module. Good news: The nuzzling works. The cell I was on was pretty small, so there was risk for the nuzzle range being too large/movement aggressive, with the tip potentially moving out of the cell, but this worked well. However, the action could not be completed (see images below).

[jessicatrnh]

Another error with ReSeal button in Multipatch module:

[jessicatrnh]

New error with Reseal function (related to changing manipulatorDevice to pipetteDevice?):

[jessicatrnh]

@outofculture is this output related to this task? This is the output in the miniconda prompt during reseal (after nuzzling)

[jessicatrnh]

new issue: Reseal does not complete. State switches to Whole Cell but the manipulator is still active and the pipette is still retracting.

[campagnola]

Also noted around the time of the above error messages: After the PP transitioned back to Whole Cell mode, it continued to move slowly backward (whereas I would have expected all movement from the reseal state to stop when we transition to Whole Cell)