That suggests that our coefficient(s) are too aggressive (in situations where it looks unstable). Not directly due to max step size, so we shouldn't reduce it for this reason. I believe 25 will negatively impact our responsiveness in situations where our error is larger than 25 mL/min. So instability could be due to: 1) coefficient(s) are too strong or 2) may need more than one set of coefficients (e.g. coefficients need to change according to Qd or state or ... because the relationship between output and feedback changes)
We will move towards 200 RPM being the minimum speed with updated Maxon controller. So, there is no need to maintain two different minimum RPM going forward.
BiCarb related state machines will be called in pre-gen, gen dialysate and post-gen modes. currently its kept here, so any modes can set a flag to initiate the required operations.
