- Added hmslave.c

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

tasdrive.c

@@ -4,6 +4,9 @@
  copyright: see file COPYRIGHT
 
  Mark Koennecke, May 2005
+
+ In the long run it might be useful to switch all this to the more 
+ general motor list driving code.
 --------------------------------------------------------------------*/
 #include <assert.h>
 #include "sics.h"
@@ -248,6 +251,7 @@ static int startMotors(ptasMot self, tasAngles angles,
   int status, silent;
 
   silent = self->math->silent;
+  self->math->mustRecalculate = 1;
   /*
     monochromator
   */
@@ -472,13 +476,23 @@ static int calculateAndDrive(ptasMot self, SConnection *pCon){
 /*-----------------------------------------------------------------------------*/
 static int checkMotors(ptasMot self, SConnection *pCon){
   int i, status, length = 12;
+  int mask[12];
 
   self->math->mustRecalculate = 1;
   if(self->math->tasMode == ELASTIC){
   		length = 8;
   }
+  memset(mask,0,12*sizeof(int));
+  for(i = 0; i < length; i++){
+        mask[i] = 1;
+  }
+  if(self->math->outOfPlaneAllowed != 0){
+    mask[SGU] = 0;
+    mask[SGL] = 0;
+  }
+  
   for(i = 0; i < 12; i++){
-    if(self->math->motors[i] != NULL){
+    if(self->math->motors[i] != NULL && mask[i] != 0){
       status = self->math->motors[i]->pDrivInt->CheckStatus(self->math->motors[i],
       	pCon);
       if(status != HWIdle && status != OKOK){