STARBackend: tip-aware 96-head Z with stop-disk / tool reference pair#1086
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… pair Mirror the single-channel reference-split for the 96-head Z axis: - Add head96_request_stop_disk_z (H0 RZ): the raw z-drive (stop disk) position, the request twin of head96_request_position (tip bottom). - Make head96_move_stop_disk_z the primitive (owns the H0 ZA send + range/speed/accel asserts + firmware acceleration scaling); head96_move_z becomes a deprecating shim that delegates to it, the way move_channel_z points to move_channel_stop_disk_z / move_channel_tool_z. - Add head96_move_tool_z: positions the tip bottom by reading the overhang move-free (head96_request_stop_disk_z vs head96_request_position) and offsetting the stop-disk move; guards tip presence and validates against the tip-space window, mirroring move_channel_tool_z. - head96_move_to_z_safety now retracts to the top of Head96Information.z_range via the primitive, with speed/acceleration parameters forwarded (no hardcoded 342.5). Guard the two new moves with @_requires_head96 (queries stay unguarded, matching the existing convention). Also correct the _head96_request_configuration QU note: index 1 (stop_disc_type) is populated on firmware at least back to 2021; index 2 (instrument_type) reliability across builds is unverified. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Mirrors the single-channel Z reference split (
move_channel_stop_disk_z/move_channel_tool_z) for the 96-head, so a Z target can be expressed against either the stop disk or the tip bottom. Builds on #1084.H0 ZA(the move) andC0 QI(the position report) reference different things:head96_move_zcommands the stop disk, buthead96_request_positionreports the tip bottom once a tip is mounted. This PR makes that split explicit.head96_request_stop_disk_z(H0 RZ): the raw z-drive (stop disk) position, the request twin ofhead96_request_position(tip bottom).head96_move_stop_disk_z: the stop-disk move primitive (owns theZAsend and the range / speed / acceleration checks).head96_move_zbecomes a deprecating shim delegating to it, asmove_channel_zpoints to its two replacements.head96_move_tool_z: moves the tip bottom to an absolute Z by reading the overhang (stop disk minus tip bottom) and offsetting the stop-disk move; guards tip presence and range-checks in tip space.head96_move_to_z_safetyretargets to the top ofHead96Information.z_rangevia the primitive,speed/accelerationforwarded, instead of the hardcodedC0 EV.Two behaviours to note:
head96_move_zis deprecated (shim, no break), andhead96_move_to_z_safetynow issues anH0 ZAmove, which writes the z-drive speed/acceleration register that later commands inherit.