- Removed old code

- Extended tasker to support task groups
- Added task functions for motors and counters
- Modifed devexec to use the new task functions
- Modified TAS to treat the monochromator separatly
- Coded a EIGER monochromator module to reflect even more new
  requirements
- Added EPICS counters and motors
- Modified multicounter to be better performing


SKIPPED:
	psi/eigermono.c
	psi/make_gen
	psi/makefile_linux
	psi/psi.c
	psi/sinqhttp.c

motor.c

@@ -992,6 +992,7 @@ int MotorCheckPosition(void *sulf, SConnection * pCon)
 */
 
 extern MotorDriver *MakePiPiezo(Tcl_Interp * pTcl, char *pArray);
+extern MotorDriver *epicsMakeMotorDriver(char *baseName);
 
 int MotorCreate(SConnection * pCon, SicsInterp * pSics, void *pData,
                 int argc, char *argv[])
@@ -1052,6 +1053,23 @@ int MotorCreate(SConnection * pCon, SicsInterp * pSics, void *pData,
       SCWrite(pCon, pBueffel, eLogError);
       return 0;
     }
+  } else if (strcmp(argv[2], "epics") == 0) {
+    if(argc > 3){
+      pDriver = epicsMakeMotorDriver(argv[3]);
+      if (!pDriver) {
+	return 0;
+      }
+    } else {
+      SCWrite(pCon,"ERROR: missing basename argument to create EPICS motor",eError);
+      return 0;
+    }
+    /* create the motor */
+    pNew = MotorInit("regress", argv[1], pDriver);
+    if (!pNew) {
+      snprintf(pBueffel,sizeof(pBueffel)-1, "Failure to create motor %s", argv[1]);
+      SCWrite(pCon, pBueffel, eLogError);
+      return 0;
+    }
   } else {
     site = getSite();
     if (site != NULL) {