- Added hmslave.c

- Tasub only drives required motors
- Tasub handles fixed motors more gracefully

protocol.c

@@ -301,6 +301,12 @@ int ProtocolGet(SConnection* pCon, void* pData, char *pProName, int len)
         return 0;
     }
     
+    if(pData == NULL)
+    {
+        pCon->iProtocolID = 0;
+        return 1;
+    }
+    
     /* lazy initialisation of defaultWriter since connection is verified */
     if(0==pPro->isDefaultSet) 
     {