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Linked axis '_disprotected_command' method + home state fix + new `.home_pos` controller method

Matias Guijarro requested to merge nth_homing into master
  • Removed .home method of LinkedAxis class
    • according to Jose Maria, we cannot have a generic implementation
  • Fixed home_state
    • just check HOMESTAT at the end
  • Added home_pos method
    • for icepap controller, this returns HOMEPOS MEASURE (useful for custom homing procedures, to know where home position is)

Tested on ID31

Edited by Matias Guijarro

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