- Added hmslave.c

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

rs232controller.c

@@ -460,7 +460,7 @@ int fixRS232Error(prs232 self, int iCode){
         case BADSEND:
             closeRS232(self);
             status = initRS232(self);
-            if(status){
+            if(status > 0){
                 return 1;
             } else {
                 return 0;