- Added tabledrive: table driven path for MARS

- Initial MARS development
- Upgraded Manager Manual


SKIPPED:
	psi/make_gen
	psi/psi.c
	psi/tabledrive.c
	psi/tabledrive.h
	psi/tabledrive.w
	psi/utils/SerPortServer.c

tasublib.c

@@ -581,20 +581,34 @@ int calcTasPowderPosition(ptasMachine machine, tasAngles angles,
 void setTasPar(ptasQEPosition qe, int tasMode, int tasVar, double value){
   double et;
 
-  assert(tasMode == KICONST || tasMode == KFCONST);
+  assert(tasMode == KICONST || tasMode == KFCONST || tasMode == ELASTIC);
 
   switch(tasVar){
   case KF:
-    qe->kf = value;
+  	if(tasMode == ELASTIC){
+  		qe->kf = qe->ki;
+  	} else {
+	    qe->kf = value;
+  	}
     break;
   case EF:
-    qe->kf = energyToK(value);
+  	if(tasMode == ELASTIC){
+  		qe->kf = qe->ki;
+  	}else {
+	    qe->kf = energyToK(value);
+  	}
     break;
   case KI:
     qe->ki = value;
+    if(tasMode == ELASTIC){
+    	qe->kf = value;
+    }
     break;
   case EI:
     qe->ki = energyToK(value);
+    if(tasMode == ELASTIC){
+    	qe->kf = qe->ki;
+    }
     break;
   case QH:
     qe->qh = value;
@@ -612,6 +626,8 @@ void setTasPar(ptasQEPosition qe, int tasMode, int tasVar, double value){
     } else if(tasMode == KFCONST){
       et = KtoEnergy(qe->kf) + value;
       qe->ki = energyToK(et);
+    }else if(tasMode == ELASTIC){
+    	qe->kf = qe->ki;
     } else {
       assert(0);
     }