Kinda, its linear, and I have a few minor tweeks, but its working

It is successfully amplifying the voltage and doing the current limiting, without a whole bunch of oscillation. with all the recent math, bringing all the signals to the DAC levels isn't a problem. This all looks good.

... of course in the process of getting it working, i tweeked it, the next step is to revese engineer what I just did.

p.s. at the end of this month there will be a 3 month stall in the project :p

p.s. thanks for those who are watching the project, your really keeping me motivated to work on it.