- Fixed sign problems with om in tasub

- Mended tasdrive to drive energy even if Q is askew
- Fixed QM values
- Fixed problems in mesure: om2th, wrong theta selection
- Fixed core dump when driving h,kl, failed

tasub.h

@@ -27,7 +27,8 @@
                 int mustRecalculate;
                 int mustDrive; 
                 pMotor motors[12];
-                int r1, r2;
+                tasReflection r1, r2;
+	        int ubValid;
 }tasUB, *ptasUB;