Rod,

This software has individual scales on all actuator force commands to the force balance servos.  Even though you are only interested in the verticals, all actuators have a scale factor.

There have been minor changes made to all code elements, so copy all of the software in this folder to the machine (backing up first of course).  Realtime code "coops.o" has changed so remember to reboot the PowerPC.

To use, type this into the listener window:

VAR a2t := vm.table.remote

a2t.setGain[8,  1.1];	! set gain of z1
a2t.setGain[9,  1.1];	! set gain of z2
a2t.setGain[10, 1.1];	! set gain of z3
a2t.setGain[11, 1.1];	! set gain of z4

a2t.gain[8].writeln;	! get gain of z1
a2t.gain[9].writeln;	! get gain of z2
a2t.gain[10].writeln;	! get gain of z3
a2t.gain[11].writeln;	! get gain of z4