XCU/piepan devices

The xcuActor controls all the non-readout devices at the dewar pie pan. Specifically:

• the PCM, which controls power to many other devices and provides communication to a few.
• the BEE, which has the serial port to the turbo pump and the DIO connection to the gate valve and its interlock board.
• the IDG temperature monitoring and heater board.
• the cryocooler(s).
• the ion pumps.
• the motors, via the PCM board.
• the ion gauge, via the PCM board.
• the gatevalve, via onboard DIO pins and a kernel module.

By default the program runs on the BEE, but can run on any reachable host unless you want to control the turbo or the gate valve.