- 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.h

@@ -21,6 +21,10 @@
 /*========================== defines for tasMode ====================*/
 #define KICONST 1
 #define KFCONST 2
+#define ELASTIC 3 
+/*
+ * in elastic mode A5, A5 will be disregarded and ki = kf at all times
+ */
 /*=========================== TAS Variables =========================*/
 #define EI 1
 #define KI 2