- Fixed various bugs in evcontroller relating to bad access after

initialization failure.
- Fixed a bug in scan.c which causes scan to go in an endless loop
  when SICS failed to start a motor.
- Fixed a bug in motor.c which caused bad softwarelimits after changes
  to the softzero.
- Started changes in choco* in order incorporate normal parameters and
  an environment driver.

choco.tex

@@ -1,8 +1,9 @@
 \subsection{Chopper Controller}
-Yet another way to deal with a controller has beenn devised for
+Yet another way to deal with a controller has been devised for
 SICS. This uses the concept of a general controller which can have
 parameters enquired and set. Furthermore it may have parameters which
-may be driven like a motor through  a special adapter. This scheme is
+may be driven like a motor or environment controller  through  special
+adapters . This scheme is
 used for the chopper controller for FOCUS.
 \begin{itemize}
 \item A driver for a particular controller which allows to set and get 
@@ -11,6 +12,7 @@ parameters.
 \item An adapter object which allows to drive special parameters in a general 
 controller. Such adapter objects can be configured for each drivable parameter
  in a controller. 
+\item An adapter to an environment controller driver.
 \end{itemize}
 The test case for this way of doing things is a controller for running 
 choppers. This is why it gets the name.
@@ -85,7 +87,7 @@ fValue. The last is floating point which covers the frequent
 occurence of numeric values. 
 \item[SetPar2] The same as SetPar but uses test string as input for
 parameter setting. 
-\item[GetPar] retrieves the parameter parname formatted as test. The
+\item[GetPar] retrieves the parameter parname formatted as text. The
 value is put into the buffer pBuffer. iBufLen is the maximum number of
 bytes permissable for pBuffer.
 \item[CheckPar] When parameters are driven a means is needed to find
@@ -180,7 +182,7 @@ $\langle$chocodata {\footnotesize ?}$\rangle\equiv$
 It consists just of the standard SICS object descriptor and a pointer
 to the driver.
 
-\subsubsection{The Drive Adapter}
+\subsubsection{The Drive And Environment Adapters}
 Most of the work of the drive adaptor is hidden in the functions
 implementing the drivable interface. Thus the interface to the
 DriveAdapter is fairly simple:
@@ -199,6 +201,8 @@ $\langle$adapter {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@   int CHAdapterAction(SConnection *pCon, SicsInterp *pSics, @\\
 \mbox{}\verb@                        void *pData,@\\
 \mbox{}\verb@                        int argc, char *argv[]);@\\
+\mbox{}\verb@@\\
+\mbox{}\verb@   pEVDriver MakeControllerEnvironmentDriver(int argc, char *argv[]);@\\
 \mbox{}\verb@               @\\
 \mbox{}\verb@@$\diamond$
 \end{list}
@@ -215,6 +219,8 @@ creating a drive adapter.
 \item[CHAdapterAction] is the SICS interpreter function for
 representing the object in SICS. Just a single action is supported:
 request the value of the parameter. 
+\item[MakeControllerEnvironmentDriver] creates an environment control
+driver for a parameter in a general controller object. 
 \end{description}
 
 The data structure for the drive adapter is slightly more interesting:
@@ -253,8 +259,29 @@ $\langle$adadata {\footnotesize ?}$\rangle\equiv$
 this adapter.
 \end{description}
 
+This is the data structure  for the private part of the environment
+controller driver:
 \begin{flushleft} \small
 \begin{minipage}{\linewidth} \label{scrap6}
+$\langle$evada {\footnotesize ?}$\rangle\equiv$
+\vspace{-1ex}
+\begin{list}{}{} \item
+\mbox{}\verb@@\\
+\mbox{}\verb@   typedef struct __CHEV {@\\
+\mbox{}\verb@                          char *pParName;@\\
+\mbox{}\verb@                          pCodri pDriv;@\\
+\mbox{}\verb@                         }CHev, *pCHev;@\\
+\mbox{}\verb@@$\diamond$
+\end{list}
+\vspace{-1ex}
+\footnotesize\addtolength{\baselineskip}{-1ex}
+\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
+\item Macro referenced in scrap ?.
+\end{list}
+\end{minipage}\\[4ex]
+\end{flushleft}
+\begin{flushleft} \small
+\begin{minipage}{\linewidth} \label{scrap7}
 \verb@"codri.h"@ {\footnotesize ? }$\equiv$
 \vspace{-1ex}
 \begin{list}{}{} \item
@@ -281,7 +308,7 @@ this adapter.
 \end{minipage}\\[4ex]
 \end{flushleft}
 \begin{flushleft} \small
-\begin{minipage}{\linewidth} \label{scrap7}
+\begin{minipage}{\linewidth} \label{scrap8}
 \verb@"choco.h"@ {\footnotesize ? }$\equiv$
 \vspace{-1ex}
 \begin{list}{}{} \item
@@ -308,7 +335,7 @@ this adapter.
 \end{minipage}\\[4ex]
 \end{flushleft}
 \begin{flushleft} \small
-\begin{minipage}{\linewidth} \label{scrap8}
+\begin{minipage}{\linewidth} \label{scrap9}
 \verb@"chadapter.h"@ {\footnotesize ? }$\equiv$
 \vspace{-1ex}
 \begin{list}{}{} \item
@@ -327,6 +354,7 @@ this adapter.
 \mbox{}\verb@@$\langle$adapter {\footnotesize ?}$\rangle$\verb@@\\
 \mbox{}\verb@#ifdef CHADAINTERNAL@\\
 \mbox{}\verb@@$\langle$adadata {\footnotesize ?}$\rangle$\verb@@\\
+\mbox{}\verb@@$\langle$evada {\footnotesize ?}$\rangle$\verb@@\\
 \mbox{}\verb@#endif@\\
 \mbox{}\verb@#endif@\\
 \mbox{}\verb@@$\diamond$