Support for mod-360 omega

[rtuck99]

Required for

• Robot unload at 360 intervals instead of reset to 0 omega spin on unload mx-bluesky#1598

Introduces a mod_360_motor parameter to the init method for XYZOmegaStage; when set to True this replaces the standard omega motor with an instance of ModMotor which delegates motion to the underlying omega motor with the difference that the omega values are remapped to 0<=omega<360.

When making an absolute move on the ModMotor:

• The motor will never do a real movement more than 180 degrees
• For moves to absolute positions which appear (from the ModMotor readback) to be less than 180 degrees from the current position, the real motor will always move in the same direction as implied by the apparent move.

Instructions to reviewer on how to test:

1. Do thing x
2. Confirm thing y happens

Checks for reviewer

• Would the PR title make sense to a scientist on a set of release notes
• If a new device has been added does it follow the standards
• If changing the API for a pre-existing device, ensure that any beamlines using this device have updated their Bluesky plans accordingly
• Have the connection tests for the relevant beamline(s) been run via dodal connect ${BEAMLINE}

[codecov]

Codecov Report

❌ Patch coverage is 92.06349% with 5 lines in your changes missing coverage. Please review.
✅ Project coverage is 99.02%. Comparing base (ec5fc8d) to head (585d794).
⚠️ Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
src/dodal/common/maths.py	90.00%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1929      +/-   ##
==========================================
- Coverage   99.05%   99.02%   -0.04%     
==========================================
  Files         312      314       +2     
  Lines       11754    11837      +83     
==========================================
+ Hits        11643    11721      +78     
- Misses        111      116       +5     

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[oliwenmandiamond]

Sorry to jump in here, but I am working on a StandardMovable in ophyd-async which looks like a perfect use case for your ModMotor and caught my eye. Allows us to create Motor like things in a standard way. bluesky/ophyd-async#1200

Secondly, I don't think you should be altering the existing XYZOmegaStage. It will make the type ModMotor | Motor which isn't a good idea when this isn't standard behaviour for beamline stages. This is MX specific behaviour, therefore you should create a specific one like ModMotorXYZOmegaStage for example.

[jacob720]

Looks good! Logic is clean and easy to follow

[jacob720]

Should something similar be added to XYZThetaStage or anything else with a rotational axis?

[jacob720]

Could: add expected offset to this test