Required for

• Robot unload at 360 intervals instead of reset to 0 omega spin on unload mx-bluesky#1598

Introduces a mod_360_motor parameter to the init method for XYZOmegaStage; when set to True this replaces the standard omega motor with an instance of ModMotor which delegates motion to the underlying omega motor with the difference that the omega values are remapped to 0<=omega<360.

When making an absolute move on the ModMotor:

• The motor will never do a real movement more than 180 degrees
• For moves to absolute positions which appear (from the ModMotor readback) to be less than 180 degrees from the current position, the real motor will always move in the same direction as implied by the apparent move.

Instructions to reviewer on how to test:

1. Do thing x
2. Confirm thing y happens

Checks for reviewer

• Would the PR title make sense to a scientist on a set of release notes
• If a new device has been added does it follow the standards
• If changing the API for a pre-existing device, ensure that any beamlines using this device have updated their Bluesky plans accordingly
• Have the connection tests for the relevant beamline(s) been run via dodal connect ${BEAMLINE}