v1.4.0

Added

• Force mode commands: new set_force_mode, set_force_offset, set_force_scale, and set_strain_cal commands
• Press energy integration: incremental net force × travel accumulation for Joule reporting
• Machine compliance model: 4th-order strain calibration accounts for machine deflection in energy calculation
• Contact thresholding: 3 kg engagement gate aligns compensation with real workpiece contact
• Persistent calibration: non-volatile memory stores calibration constants and force-mode selection (load-cell vs motor torque)

Changed

• Force mode: move commands drop the force_mode argument; new set_force_mode selects sensor source globally
• Better precision: doubled math for position/energy and telemetry now reports millimeters with three decimals
• Retract control: set_retract accepts optional speed (default 25 mm/s) and force-action retracts honour that rate
• Force mode behaviour: load-cell moves keep default torque limit while motor-torque mode still uses calibrated curve

Fixed

• Retract speed on force action: force-action retracts now run at the configured retract speed instead of the previous slow fallback rate