- Reworked the connection object and the IO system

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

nintf.c

@@ -3,6 +3,8 @@
   is an implementation.
 
   Mark Koennecke, February 2000
+  
+  Added double version, Mark Koennecke, August 2008
   ---------------------------------------------------------------------------*/
 
 #include <math.h>
@@ -24,3 +26,22 @@
      }
      return (float) ip;
   }
+/*-------------------------------------------------------------------*/  
+  double nintd(double f)
+  {
+     double ip, rm, dVal;
+     double fRes;
+
+     dVal = (double)f;
+     rm = modf(dVal,&ip);
+     if(rm < .0)rm = -rm;
+     if(rm > .5)
+     {
+        if(ip < .0) 
+              ip -= 1.;
+         else
+              ip += 1.;
+
+     }
+     return (double) ip;
+  }