There is quite a bit of repeated code in apple2_undulator that could be tidied up:

• Multiple async def check_id_status(self) -> None:
• _cal_timeout is always doing the same basic thing of estimating motor timings
• UndulatorPhaseMotor is just an expanded motor record, can we inherit from Motor?

Acceptance Criteria

• apple2_undulator is tidier
• Behavior is unchanged