- Fix to various drivers due to changes in rs232controller

- hkl now searches psi in .5 steps
- first point of fastscan is driven normally


SKIPPED:
	psi/amor2t.c
	psi/amor2t.h
	psi/amor2t.i
	psi/amor2t.tex
	psi/amor2t.w
	psi/dornier2.c
	psi/el734hp.c
	psi/nxamor.c
	psi/slsmagnet.c
	psi/sps.c

ubfour.c

@@ -20,15 +20,21 @@
 /*--------------------------------------------------------------------------------------*/
 static MATRIX calcUVectorFromAngles(reflection r){
   MATRIX u;
+  double om;
 
   u = makeVector();
   if(u == NULL){
     return NULL;
   }
-  vectorSet(u,0,Cosd(r.om)*Cosd(r.chi)*Cosd(r.phi) - Sind(r.om)*Sind(r.phi));
-  vectorSet(u,1,Cosd(r.om)*Cosd(r.chi)*Sind(r.phi) + Sind(r.om)*Cosd(r.phi));
-  vectorSet(u,2,Cosd(r.om)*Sind(r.chi));
-  
+  /*
+   * the tricky bit is set again: Busing and Levy's omega is 0 in bisecting
+   * position. This is why we have to correct for two_theta/2 here in order  
+   * to arrive at the proper rotation around the omega axis.
+   */
+  om = r.om - r.s2t/2.;
+  vectorSet(u,0,Cosd(om)*Cosd(r.chi)*Cosd(r.phi) - Sind(om)*Sind(r.phi));
+  vectorSet(u,1,Cosd(om)*Cosd(r.chi)*Sind(r.phi) + Sind(om)*Cosd(r.phi));
+  vectorSet(u,2,Cosd(om)*Sind(r.chi));
   return u;	    
 }
 /*--------------------------------------------------------------------------------------*/