feat: aspirate should check volume and tip attached before moving to location

[geographybuff]

Overview

Using the Jupyter Notebook with API version 2.11, the pipette.aspirate command first moves to the location, then checks if a tip is attached, and then checks if the volume exceeds the max. This code returns an error first if a tip is not attached, and then if the volume is too high. This can create problems when the pipette moves to a well containing sensitive materials, and risks unnecessarily contacting a well or unnecessarily spreading its contents due to a command for a transfer that cannot complete due to excessive volume. Instead, the protocol should have recognized that the aspiration was impossible as soon as the aspirate command was made with excessive volume. This seems to be related to the commit b97846b, in which an error is now returned after a command to aspirate more than the allowed volume. However, this maximum volume error, or a tip not attached error, should be returned before the pipette moves to the location, to avoid unnecessary motion.

Implementation details

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Design

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Acceptance criteria

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