Bo Xin [X] pointed out that we do not need the new moveToReference command, because a compensated move already includes the necessary information (such that move to x=0, y=0, z=0, u=0, v=0, w=0 should be collimated).
We have agreed to get rid of it, to simplify the code. This is a trivial change and one that I would like to get into ts_xml 7.1
We also discussed getting rid of the configuration commands. Te-Wei Tsai pointed out that the EUI does not allow changing the position, velocity, accleration limits; this can only be done by the CSC or by editing a file and rebooting the low-level controller. So we will keep those for now. In the long run I think it would be good to have a better way to update the configuration, such as reading the configuration file when transitioning from offline to standby. But that is for another ticket, and until we have something, we should keep those commands in the MTHexapod CSC. The EUI does support changing the pivot point, but I propose we leave that in the CSC for now, as it is the one bit of configuration we may want to change while testing the hexapod. With any luck we can get rid of all the configuration commands from the CSC at once. Someday.