- 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.

motor.c

@@ -517,7 +517,7 @@ extern void KillPiPiezo(void *pData);
      ObPar *pPar = NULL;
      char pBueffel[512];
      int iRet;
-     float fLimit;
+     float fLimit, fOld, fChange;
      
      assert(self);
      assert(pCon);
@@ -525,18 +525,21 @@ extern void KillPiPiezo(void *pData);
      if(strcmp(name,"softzero") == 0)
      {
        /* set it first, this also tests the necessary privileges */
+        fOld = ObVal(self->ParArray,SZERO); 
         iRet = ObParSet(self->ParArray,self->name,name,fVal,pCon);
         if(!iRet)
         {
           return iRet;
         }
+        /* shift the limits by the difference between old and new */
+        fChange = fVal - fOld;
         /* upper limit */
         fLimit = ObVal(self->ParArray,SUPP);
-        fLimit -= fVal;
+        fLimit -= fChange;
         ObParSet(self->ParArray,self->name,"softupperlim",fLimit,pCon);
         /* lower limit */
         fLimit = ObVal(self->ParArray,SLOW);
-        fLimit -= fVal;
+        fLimit -= fChange;
         ObParSet(self->ParArray,self->name,"softlowerlim",fLimit,pCon);
 
         return 1;