new sample centring (not moving phiz) made backward compatible =>
if phiz reference position is not defined, do as before
changed getDeviceByRole to getObjectByRole since motor can be an equipment
(e.g in case of a combination of moves)
simplified MinidiffAperture
fixed indexes in Robodiff sample changer
added missing _gaps initialization
added missing abstract method: get_beam_centre()
only move motors that really need to move in prepare
return beam size in millimeters
use beam info object
finished hutchtrigger
filled get_beam_size and get_beam_shape functions
added write_input_files
pass chi motor to ISPyB
removed chi motor from MiniDiff
fixed bug in MotorMockup
fixed Pilatus header
added exception message
dewar is now a motor with positions
added chi motor
discard undulators if more than 3
merged with master branch
added data collection hook for setting shutterless mode