- Reworked the connection object and the IO system

- Reworked the support for TRICS
- Added a second generation motor

fourlib.c

@@ -608,11 +608,11 @@ void z1FromAllAngles(double lambda, double omega , double gamma,
   mat_free(z3);    
 }
 /*-----------------------------------------------------------------------*/
-int findAllowedBisecting(double lambda, MATRIX z1, float fSet[4], 
+int findAllowedBisecting(double lambda, MATRIX z1, double *fSet, 
     inRange testFunc, void *userData){
     int status, i, mask[4];
     double stt, om, chi, phi, psi, ompsi, chipsi, phipsi;
-    float fTest[4];
+    double fTest[4];
     
     status = z1mToBisecting(lambda,z1, &stt, &om, &chi, &phi);
     chi = circlify(chi);