Split xy positioning system into separate module.

Martin Buddenrequested to merge
martinbudden/openflexure-microscope:xy_positioning_module into med-stable

Split xy positioning system into a separate module for better code understandability and maintainability.

Incorporates "Fixes over-enthusiastic cutout in xy-base" !188 (merged) and "Honour the endstop flag" !187 (closed) so if this is merged first, those two don't need to be merged.

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