Add HighRes Biosolutions MicroSpin centrifuge backend (#1047)

Co-authored-by: Rick Wierenga <rick_wierenga@icloud.com>
Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

Author: 3 people

CHANGELOG.md

@@ -6,6 +6,17 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/).
 
 ## Unreleased
 
+### Added
+
+- HighRes Biosolutions MicroSpin centrifuge backend (`pylabrobot.centrifuge.highres.MicroSpinBackend`) speaking the device's ASCII command/response protocol over TCP/1000, plus a `MicroSpin(...)` factory.
+- In-process `MicroSpinMockServer` (`pylabrobot.centrifuge.highres.mock_server`) that faithfully emulates the MicroSpin's wire protocol -- including the firmware's "`status` blocks until the spindle has stopped" semantics and the low-G spin-down-detection hang -- usable as a Python async context manager or runnable as a script (`python -m pylabrobot.centrifuge.highres.mock_server`) for `nc`/`telnet` debugging.
+- `MicroSpinBackend.reset()` recovery helper that issues `abort` -> `clearbuttonabort` -> `status`, using the last as the gate that genuinely confirms the rotor has stopped.
+- User guide notebook for the MicroSpin (`docs/user_guide/01_material-handling/centrifuge/highres_microspin.ipynb`).
+
+### Fixed
+
+- Imported `unittest.mock` in `pylabrobot/centrifuge/centrifuge_tests.py` (pre-existing bug that prevented the test class from running).
+
 ## 0.2.1
 
 ### Added

docs/api/pylabrobot.centrifuge.rst

@@ -11,6 +11,7 @@ This package contains APIs for working with centrifuges.
   :recursive:
 
     centrifuge.Centrifuge
+    centrifuge.Loader
 
 
 Backends
@@ -22,3 +23,21 @@ Backends
   :recursive:
 
     vspin_backend.VSpinBackend
+    highres.microspin_backend.MicroSpinBackend
+
+
+Errors
+------
+
+.. autosummary::
+  :toctree: _autosummary
+  :nosignatures:
+  :recursive:
+
+    standard.BucketHasPlateError
+    standard.BucketNoPlateError
+    standard.CentrifugeDoorError
+    standard.LoaderNoPlateError
+    standard.NotAtBucketError
+    highres.microspin_backend.MicroSpinError
+    highres.microspin_backend.MicroSpinProtocolError

docs/user_guide/01_material-handling/centrifuge/_centrifuge.md

@@ -21,4 +21,5 @@ PLR supports the following centrifuges:
 :maxdepth: 1
 
 agilent_vspin
+highres_microspin
 ```