I fixed it! I decided I had nothing to lose and tried it with a regular disc. I went into test mode, ran auto1 and auto2. The manual said these are used for automatically adjusting the servo moter. During auto2 it hung in a few spots for about 20 mins, and finally gave me a adj ok. It does not give me errors, and does not hang when i go to the end tracks. I was getting a utoc error(cant readu), servo error(cantreada) and track error(cantreads).
Anyone ever have these problems just run auto1 and auto2(with a recorded minidisc, not prerecorded) in test mode.