- A couple of small fixes for memory and initialization problems.

This is to make valgrind happy


SKIPPED:
	psi/amorscan.c
	psi/el734hp.c
	psi/psi.c
	psi/tasscan.c

oscillate.c

@@ -49,6 +49,16 @@ static int OscillationTask(void *data){
     errStatus = self->pMot->pDriver->TryAndFixIt(self->pMot->pDriver,code,pos);
     self->errorCount++;
     if(errStatus == MOTFAIL){
+      /*
+	try driving the other way on a serious error
+      */
+      if(self->nextTargetFlag == 1){
+	pos = self->upperLimit;
+	self->nextTargetFlag = 0;
+      } else {
+	pos = self->lowerLimit;
+	self->nextTargetFlag = 1;
+      }
       MotorRun(self->pMot,self->pCon,pos);
     }
     break;