Merge branch 'wip' of gitlab.psi.ch-samenv:samenv/frappy into wip

cfg/stick/uniax.cfg

@@ -0,0 +1,9 @@
+[NODE]
+id = uniax stick
+class = protocol.router.Router
+description = router forwarding to linse-uniax apu
+node = linse-uniax:5000
+
+#[INTERFACE]
+#uri=tcp://5002
+

cfg/trinamic.cfg

@@ -18,7 +18,7 @@ io = drv_io
 standby_current=0.1
 maxcurrent=1.4
 acceleration=150.
-movelimit=360
+move_limit=360
 speed=40
 encoder_tolerance=3.6
 free_wheeling=0.1

cfg/uniax.cfg

@@ -10,6 +10,7 @@ description = force control
 class = secop_psi.uniax.Uniax
 motor = drv
 transducer = transducer
+force_offset = 15
 
 #[drv_io]
 #description = 
@@ -23,10 +24,10 @@ class = secop_psi.trinamic.Motor
 # io = drv_io
 uri = tcp://192.168.127.254:3002
 standby_current=0.1
-maxcurrent=0.2
+maxcurrent=0.3
 acceleration=150.
 move_limit=5
-safe_current=0.2
+safe_current=0.3
 speed=40
 encoder_tolerance=3.6
 free_wheeling=0.1
@@ -39,6 +40,7 @@ class = secop_psi.dpm.DPM3
 uri = tcp://192.168.127.254:3001
 digits = 2
 scale_factor = 0.0156
+offset = 15
 
 [res]
 description = temperature on uniax stick