Virtual spring test

For SC 751 series code

• w/testjig position robot to the zero position
• periodically run command 104 to confirm that the robot position is near zero (|3rd number| <100)
• disable SM updates w/command 127 0
• zero the K and B for the VS with command 131 0 0
• enter the VS state w/command 170 13

other commands

• 130 can be used to read the VS parameters
• 1120 can be used to read the electronic fuse parameters
• 1121 can be used to monitor the electronic fuse