- 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.w

@@ -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.
@@ -72,7 +74,7 @@ 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
@@ -141,7 +143,7 @@ the internal data structure for a controller object is very simple:
 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:
@@ -155,6 +157,8 @@ DriveAdapter is fairly simple:
    int CHAdapterAction(SConnection *pCon, SicsInterp *pSics, 
                         void *pData,
                         int argc, char *argv[]);
+
+   pEVDriver MakeControllerEnvironmentDriver(int argc, char *argv[]);
                
 @}
 \begin{description}
@@ -163,6 +167,8 @@ 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:
@@ -188,6 +194,15 @@ The data structure for the drive adapter is slightly more interesting:
 this adapter.
 \end{description}
 
+This is the data structure  for the private part of the environment
+controller driver:
+@d evada @{
+   typedef struct __CHEV {
+                          char *pParName;
+                          pCodri pDriv;
+                         }CHev, *pCHev;
+@}
+
 @o codri.h @{
 /*-------------------------------------------------------------------------
                  C o n t r o l l e r D r i v e r
@@ -242,6 +257,7 @@ this adapter.
 @<adapter@>
 #ifdef CHADAINTERNAL
 @<adadata@>
+@<evada@>
 #endif
 #endif
 @}