experimental persistent mixin

- still contains changes in mouduls/params ...

cfg/trinamic.cfg

@@ -8,8 +8,8 @@ uri = tcp://5000
 [drv_iodev]
 description = 
 class = secop.bytesio.BytesIO
-# uri = serial:///dev/ttyUSB0?baudrate=57600
-uri = serial:///dev/ttyUSB0?baudrate=9600
+uri = serial:///dev/ttyUSB0?baudrate=57600
+# uri = serial:///dev/ttyUSB0?baudrate=9600
 
 [drv]
 description = trinamic motor test
@@ -17,9 +17,9 @@ class = secop_psi.trinamic.Motor
 iodev = drv_iodev
 standby_current=0.1
 maxcurrent=1.4
-acceleration=50
-maxspeed=200
-zero=-36
-enc_tolerance=3.6
+acceleration=150.
+movelimit=360
+speed=40
+encoder_tolerance=3.6
 free_wheeling=0.001
-pull_up=1
+# pull_up=1