- 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.

tasdrive.c

@@ -284,18 +284,14 @@ static int startTASMotor(pMotor mot, SConnection * pCon, char *name,
   mot->stopped = 0;
   if (ABS(val - target) > MOTPREC) {
 	pDriv = GetDrivableInterface(mot);
-	/* SCStartBuffering(pCon); */
     status = pDriv->SetValue(mot, pCon, (float) target);
+    if(status != OKOK){
+      SCPrintf(pCon,eLog,"ERROR: failed to drive %s to %f", name, target); 
+    }
     /*
       to force updates on targets
     */
     InvokeNewTarget(pServ->pExecutor, name, target);
-    /*mes = SCEndBuffering(pCon);
-    if (status != OKOK) {
-      SCPrintf(pCon,eLogError, GetCharArray(mes));
-      return status;
-    }
-    */
   }
   writeMotPos(pCon, silent, name, val, target);
   return status;
@@ -611,7 +607,8 @@ static int TASGetStatus(void *pData, SConnection * pCon)
   if (self->math->mustDrive == 1) {
     status = calculateAndDrive(self, pCon);
     if (status != OKOK) {
-      return HWFault;
+      TASHalt(pData);
+      return HWBusy;
     } else {
       return HWBusy;
     }