Add iic command to take constant-theta phi scans

[ editing this description – CPL 2026-01-14 ]

The tilts of the fibers at the tips of the cobras vary with theta and phi, and we have been taking constant-theta scans in phi to probe that. That has been done by creating directories of pfsDesigns along with a driving script, but we understand what we want to do well enough to want a convenient iic command.

The 2025-12 and starting 2026-01 data were taken from a fixed-in-mm phi offset. We no longer want that: phi offsets should be in degrees from 0. As it stands, they have been degrees from 1.0 mm out. FWIW, 1.0mm is pretty close to 30deg.

By default, we also want a visit taken at the correct theta but with phi at home. So:

1. go to cobra home and expose
2. converge to first non-0 phi position and expose
3. home phi only and expose
4. continue with converging+exposing at rest of phi positions. Those can probably be shorter convergences.

The default behavior might be to take 20s halogens every 30 degrees starting from home, out to ~180 degrees.

A single phi scan is a convenient cloudy-night task. We have been taking them every 30 degrees around the theta circle.