Fix STARBackend.get core() & STARBackend.put core()

[BioCam]

Hi everyone,

The Problem

1. The x-coordinate of STARBackend.get core() & STARBackend.put core() was 1 mm too high on a STAR when compared to VENUS - I noticed because the CORE-gripper tool pickup was working inconsistently.
2. PLR empowers the usage of a STARBackend.core_adjustment: Coordinate attribute. However, the Coordinate class takes mm as offset values and STARBackend.get core() & STARBackend.put core() have so far been given the mm coordinate values straight into the firmware commands dmm values. This also fails when a float is used in the Coordinate class .

PR Content

1. Fixed the STARBackend.get core() & STARBackend.put core() x-coordinate for usage on a STAR - validated on machine.
2. Added correct conversion from Coordinate mm to dmm.

[BioCam]

Tangentially relevant note (not caused nor influenced by this PR's content but on topic):

PLR currently uses a fairly advanced, dynamic "tip definition inside firmware" approach using command C0TT to reassign tips when they are encountered during a PLR run.

To my understanding, this is not currently including non-Tip "ChannelHeadTools" like the Gripper!

The Gripper is firmware-encoded to tip_type_index = 14.

This means that, currently, I would expect the usage of CORE-grippers to fail IF one were to use 15 different types of tips in the same automated Protocol... this is very unlikely to be the case 😅
But while we're on topic, worth thinking about a permanent solution?

[rickwierenga]

The Gripper is firmware-encoded to tip_type_index = 14.

good catch, I had not realized this

we should definitely define this dynamically like we do for actual tips

[BioCam]

we should definitely define this dynamically like we do for actual tips

I agree - I see the bigger issues to be more that we haven't created the ChannelHeadTool class that should be the deciding factor for "tip type indexing" into the firmware 🤔

[rickwierenga]

yes exactly ChannelHeadTool would make implementing this much neater

[rickwierenga]

thanks!