feat(hardware): get baseline pressure before liquid sensing

[caila-marashaj]

Since we now have auto-zeroing for the pressure sensor, this code just makes it so that the liquid probing functionality, by default, will request a baseline read of the pressure sensor before searching for liquid.

After a BaselineSensorRequest is sent the from Python side and a baseline pressure is found, the firmware will automatically compare the difference between a given pressure reading and the new baseline, with the threshold value. This way, the threshold becomes a sort of maximum variance from the baseline value.

This can be turned off in the get_pressure_baseline parameter of LiquidProbeSettings, in which case the pressure will just be compared to the threshold like it was previously.

This closes RLIQ-347

[codecov]

Codecov Report

Merging #12314 (0af9c63) into edge (ce6fedd) will decrease coverage by 0.05%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             edge   #12314      +/-   ##
==========================================
- Coverage   74.28%   74.24%   -0.05%     
==========================================
  Files        2161     2162       +1     
  Lines       59715    59770      +55     
  Branches     6105     6105              
==========================================
+ Hits        44361    44377      +16     
- Misses      13924    13963      +39     
  Partials     1430     1430              

Flag	Coverage Δ
hardware	58.44% <100.00%> (-0.26%)	⬇️
notify-server	89.13% <ø> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
api/src/opentrons/config/defaults_ot3.py	97.50% <ø> (ø)
api/src/opentrons/config/types.py	100.00% <ø> (ø)
...entrons/hardware_control/backends/ot3controller.py	65.12% <ø> (ø)
...pentrons/hardware_control/backends/ot3simulator.py	88.05% <ø> (ø)
api/src/opentrons/hardware_control/ot3api.py	79.51% <ø> (ø)
...pentrons_hardware/hardware_control/tool_sensors.py	98.57% <100.00%> (+0.06%)	⬆️

... and 3 files with indirect coverage changes

[Laura-Danielle]

In general looks good, but we should:

1. make the name in the configuration more clear
2. get clarify from hardware to see if they'll ever want to modify the number of reads for the average
3. log the auto-zero result (at least using log.debug)

[Laura-Danielle]

Looks much better, we should make sure to test this on a robot though.