refactor(api): split backend tip_action into two functions

[caila-marashaj]

Overview

Currently, the backend tip_action function is used both for regular tip action moves, as well as for homing the gear motors at a constant velocity. This makes the code a little bit cluttered, as the backend function takes in either a list of moves or a distance and velocity to accommodate this, and then needs to determine which one it's received.

Instead, the api can just use two separate functions- one for homing, and one for all other moves involving the gear motor.

Changelog

• create a home_gear_motors function in ot3api.py that fast homes the gear motors if possible, or homes at constant velocity if not
• create a home_gear_motors function in ot3controller.py that is used only for homing at constant velocity
• ot3controller.py::tip_action will only take in a list of moves

[codecov]

Codecov Report

Merging #13381 (bdcc6e6) into edge (5c3660f) will increase coverage by 0.00%.
Report is 1 commits behind head on edge.
The diff coverage is n/a.

Additional details and impacted files

@@           Coverage Diff           @@
##             edge   #13381   +/-   ##
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  Coverage   71.67%   71.67%           
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  Files        2405     2405           
  Lines       67012    67010    -2     
  Branches     7654     7654           
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- Hits        48029    48028    -1     
+ Misses      17163    17162    -1     
  Partials     1820     1820           

Flag	Coverage Δ
app	70.01% <ø> (ø)
components	61.44% <ø> (ø)
g-code-testing	96.44% <ø> (ø)
hardware-testing	∅ <ø> (∅)
labware-library	49.17% <ø> (ø)
notify-server	89.13% <ø> (ø)
protocol-designer	46.10% <ø> (ø)
react-api-client	70.11% <ø> (ø)

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

Files Changed	Coverage Δ
...entrons/hardware_control/backends/ot3controller.py	68.42% <ø> (+0.21%)	⬆️
...pentrons/hardware_control/backends/ot3simulator.py	86.44% <ø> (ø)
...rc/opentrons/hardware_control/backends/ot3utils.py	94.23% <ø> (ø)
api/src/opentrons/hardware_control/ot3api.py	79.43% <ø> (ø)

[Laura-Danielle]

Make sure this is tested on a robot beforehand, but looks good overall.

[vegano1]

Makes sense,
go to go once we get some testing on the robot.