AI Slop Cleanup: v1 STAR: move_to_xy_position on Head; no _move_over

[BioCam]

The Problem

The 96-head's liquid commands travelled through _move_over, a private helper that mixed a tip check, a Z move and the X/Y travel. The 384-head had no X/Y travel at all. And the head's travel did not match Pipettes.move_to_xy_positions: it took no traverse height, could lower a head to it rather than only raise it, fixed its X acceleration, and gave the caller none of the drives' speed, acceleration or current settings.

PR Content/Solution

• Head.move_to_xy_position(x, y, *, ...) on Head, shared by both heads; _require_iswap_parked moves with it and _move_over is gone
• in order: the iSWAP must be parked; X and Y are checked (reach, and Y's speed, acceleration and current limit); the head's lowest point (the tip bottom with tips, the stop disc without) is raised to minimum_traverse_height_start if below it; the arm's pipetting channels go up to their safe Z; then X and Y travel together
• minimum_traverse_height_start=None moves the stop disc to the top of the window probe_z_max found at setup; a given height only ever raises the head, as on Pipettes.move_to_xy_positions
• each drive's settings pass through: x_acceleration_level, x_current_limit, y_speed, y_acceleration, y_current_limit, z_speed, z_acceleration
• x_acceleration_level=None is 2 at a Y of 200 mm or less, where the head stands furthest out from the X drive, else 3 (was 1 and 3)
• probe_liquid_height, aspirate, dispense and mix pass their traverse height instead of moving Z themselves; mix passes its descent speed as z_speed. probe_liquid_height and mix refuse without tips before anything moves

A traverse height below where the head already stands no longer brings it down: the head travels where it is.

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