STAR aspirate: one C0 AS from mm and uL, checked before it is sent - #1360
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The raw C0 AS takes tenths of millimetres and microlitres, one list per channel, and checks nothing. _aspirate_in_one_move takes deck heights in mm and volumes in uL per channel, fills every field the caller leaves out with the default the command has always carried, and refuses a list of the wrong length, a value outside the firmware's range, an unreachable height or a tip that would overfill, before anything is sent. Pre-mixes reach the four mixing fields. After the command only the channels it moved are read back along Z: _record_after_command takes them. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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… tips state, liquid classes, Mix v1 keeps its own code where it has moved on: the liquid-class lookup and resolver, aspiration, dispense, the 96-head mix, the pistons model, the resolver tests where v1 keeps them. From main, decided in review: soft Z-touch tips identified by model, aspiration range errors reported together, the liquid-class docstring, the shortened legacy line, a tracker ignoring a callback it already holds, and the tests main added. Duplicates the merge made are resolved. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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_unchecked_fw_aspiratetakes firmware units and checks nothing, so a caller had to convert every field and could send one the firmware refuses._aspirate_in_one_movetakes mm and uL per channel, converts them and checks each field against its range inPipettesConfigurationbefore anything is sent, then sends oneC0 AS. Pre-mix fields are part of it.Tests: conversions, every range refusal before anything is sent, the frame for a given set of arguments.
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