uniax, version 7.10.2021

- driving with a generator
- 3 phases
  1) find active range (low current, far movement until force over hysteresis)
  2) release force until well below target
  3) adjusting using pid_p. (this is in fact an integral factor)

cfg/uniax.cfg

@@ -19,7 +19,8 @@ uri = tcp://192.168.127.254:3002
 standby_current=0.1
 maxcurrent=0.2
 acceleration=150.
-movelimit=360
+move_limit=5
+safe_current=0.2
 speed=40
 encoder_tolerance=3.6
 free_wheeling=0.1
@@ -43,7 +44,7 @@ transducer = transducer
 description = temperature on uniax stick
 class = secop_psi.ls340res.ResChannel
 uri = tcp://192.168.127.254:3003
-channel = C
+channel = A
 
 [T]
 class = secop_psi.softcal.Sensor