fix(api): prevent stalls on PickUpTip Protocol API command

[pmoegenburg]

Overview

Recently in ABR testing, we've seen significant stalls surface from the head boards. One possible culprit is _move_to_plunger_bottom() now occurring after tip_pickup_moves(). This PR moves _move_to_plunger_bottom() back to before tip_pickup_moves().

Closes RABR-431.

Test Plan

This branch can now be run on ABR3 to determine if the method call order is indeed the cause of the stall issue.

Changelog

Review requests

Risk assessment

[sfoster1]

If it works I suppose I'll change my tune, but (a) I really don't understand a physical mechanism for this fixing that problem - how'd you come up with it? and (b) contra the pr description it doesn't seem like this call moved it seems like it disappeared, and now reappeared. Is there somewhere else that we have to remove it from? Are we moving twice now?

[pmoegenburg]

This proposal comes from logic not physical first principles, i.e. stalls were occurring less with _move_to_plunger_bottom() prior to tip_pickup_moves() and stalls are occurring more without _move_to_plunger_bottom() prior to tip_pickup_movs(). The recent refactor mimics the previous code process (with prepare_for_aspirate() (which calls _move_to_plunger_bottom()) occurring after tip_pickup_moves()) with the exception of the first _move_to_plunger_bottom(), which was deleted.