feat(pipettes): add acceleration to TipActionRequest message

[caila-marashaj]

This code accompanies the monorepo changes in this pr- it adds acceleration to TipActionRequest messages, and uses the position_flags parameter in GearMotorAcks after a move is complete

[codecov-commenter]

Codecov Report

Merging #653 (323147b) into main (7d7c1ae) will not change coverage.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main     #653   +/-   ##
=======================================
  Coverage   84.30%   84.30%           
=======================================
  Files          87       87           
  Lines        3836     3836           
=======================================
  Hits         3234     3234           
  Misses        602      602           

Impacted Files	Coverage Δ
include/can/core/messages.hpp	99.22% <ø> (ø)
include/motor-control/core/motor_messages.hpp	100.00% <ø> (ø)
...ttes/core/tasks/gear_move_status_reporter_task.hpp	100.00% <ø> (ø)
...rol/core/stepper_motor/motor_interrupt_handler.hpp	99.58% <100.00%> (ø)

[Laura-Danielle]

You need to edit:

include/motor-control/core/stepper-motor/motion_controller.hpp::PipetteMotionController

in order for the acceleration to actually get used (and I believe the pip motion controller task too).

Let me know if you can't find where these are.

[Laura-Danielle]

yep looks good, but please don't merge in till the python pr is ready to be merged in.

[sfoster1]

just in case so we don't drive ourselves crazy if we flash the wrong thing, can we put the acceleration part at the end of the message and set it to 0 if we don't have a long enough message to include it

[sfoster1]

Looks good otherwise though!

[sfoster1]

Looks good to me! Really great work.