Update Running Orocos

Running-Orocos.md

@@ -1,3 +1,5 @@
+# Connecting
+
 If Orocos has been installed in a shellbox, then you can connect to it with:
 
 ```
@@ -22,6 +24,14 @@ Once started, you should see a bunch of output scrolling past quickly, firstly l
 Deployer [S]>
 ```
 
+# PID Parameters
+
+The standard configuration will typically have the following PID loops implemented:
+
+- `PID0` for the X-axis
+- `PID1` for the Y-axis
+- `PID2` for the Z-axis
+ 
 If you type in the command "PID0", then the Deployer will print the interface of the `PID0` object. Available commands are highlighted in red. For example, `PID0.kI` will print the current value of the 'kI' feedback parameter. The value can be changed with a command such as:
 ```
 PID0.kI=0.005
@@ -29,3 +39,19 @@ PID0.kI=0.005
 This value is only temporary and might not be saved when the program exits. It is recommended to then use the `PID0.saveParam` command to write all parameter values for the PID to file.
 
 The typical configuration will have `PID0` for the X-axis, `PID1` for the Y-axis and `PID2` for the Z-axis. Each of these have a `kP`, `kI` and `kD` parameter that can be queried and changed.
+
+# Drift Correction
+
+Drift correction is implemented via the interferometer sensor object, typically configured as `Sensor1` (see `start.ops` file).
+
+To see the current drift correction parameters, enter the following command to see the pair of values:
+```
+Deployer [S]> Sensor1.zCorrectMatrix
+```
+
+The first (zero entry) value is for the X-axis and the second (entry 1) value is for the Y-axis. Values can be set by addressing each entry in the array, e.g.:
+```
+Deployer [S]> Sensor1.zCorrectMatrix[0] = 0.0
+```
+
+The parameters are in terms of microns of lateral adjustment per micron of Z-axis movement of the zone plate stage. Values should therefore be small, e.g. -0.005<x<0.005, but there is no software restriction.