- Added a boa recount mode in hmcontrol. Soemtimes the CCD overruns

- Added a staticoffset to motorsec.c in order to allow the use of softzero
  for physics purposes.
- When a triple axis motor fails to start, the whole shit needs to be stopped.
  This has now been implemented into tasdrive.c
- There were crashes in adding NB reflections to a reflection list. This has
  been fixed.

motorsec.c

@@ -123,7 +123,7 @@ static long SecMotorRun(void *sulf, SConnection * pCon, float fNew)
 static int SecMotorCheckBoundary(pMotor self, float fVal, float *fTarget,
                                  char *pError, int iErrLen)
 {
-  double fZero, fixed, lowerlim, upperlim, sign;
+  double fZero, fixed, lowerlim, upperlim, sign, offset;
   float fHard, hupper, hlower;
   char pBueffel[512];
   hdbValue v;
@@ -134,6 +134,8 @@ static int SecMotorCheckBoundary(pMotor self, float fVal, float *fTarget,
   fixed = v.v.doubleValue;
   assert(SICSHdbGetPar(self, NULL, "softzero", &v) == 1);
   fZero = v.v.doubleValue;
+  assert(SICSHdbGetPar(self, NULL, "staticoffset", &v) == 1);
+  offset = v.v.doubleValue;
   assert(SICSHdbGetPar(self, NULL, "softlowerlim", &v) == 1);
   lowerlim = v.v.doubleValue;
   assert(SICSHdbGetPar(self, NULL, "softupperlim", &v) == 1);
@@ -165,6 +167,7 @@ static int SecMotorCheckBoundary(pMotor self, float fVal, float *fTarget,
   }
 
   /* correct for zero point */
+  fZero += offset;
   fZero = -fZero;
   fHard = fVal - fZero;
 
@@ -392,15 +395,16 @@ static void AddMotorPar(pHdb node, int priv, char *name)
 /*---------------------------------------------------------------------------*/
 static float hardToSoftPosition(pMotor self, float hard)
 {
-  float sign, zero, fVal;
+  float sign, zero, fVal, offset;
 
   SecMotorGetPar(self, "sign", &sign);
   SecMotorGetPar(self, "softzero", &zero);
+  SecMotorGetPar(self, "staticoffset", &offset);
   fVal = hard;
   if (sign < 0) {
-    fVal += zero;
+    fVal += zero + offset;
   } else {
-    fVal -= zero;
+    fVal -= zero + offset;
   }
   fVal *= sign;
   return fVal;
@@ -728,6 +732,11 @@ pMotor SecMotorInit(char *name)
   SetHdbProperty(child, "__save", "true");
   AddHipadabaChild(node, child, NULL);
 
+  child = MakeSICSHdbPar("staticoffset", usMugger,
+                         MakeHdbFloat((double) 0.0));
+  SetHdbProperty(child, "__save", "true");
+  AddHipadabaChild(node, child, NULL);
+
   child = MakeHipadabaNode("status", HIPTEXT, 1);
   SetHdbProperty(child, "motname", name);
   AddHipadabaChild(node, child, NULL);