Merge lp:~jeremyrcohen/fabinterpreter/Jeremy_Cohen into lp:fabinterpreter

[Jeffrey Lipton]

=== added file 'README.txt'
--- README.txt	1970-01-01 00:00:00 +0000
+++ README.txt	2010-08-07 00:08:43 +0000
@@ -0,0 +1,7 @@
+Steps to running interpreter:
+
+1.Make sure DYLD_LIBRARY_PATH if using this on a Mac contains the directory of the qextserial libraries. This can be done in the run settings in Qt
+2.Set the Interpreter project to depend on src.pro (in Common/JrKerr/src/ but src.pro MUST be opened with Interpreter.pro to do this)
+3.Delete text in “Command” in the “Generate GUI” build step and add in “uic”
+4.Compile project
+5.Make sure the executable is set to active in Qt settings (and make sure that Qt has the right executable set)

=== modified file 'software/.DS_Store'
Binary files software/.DS_Store	2010-07-23 20:12:14 +0000 and software/.DS_Store	2010-08-07 00:08:43 +0000 differ
=== modified file 'software/Common/.DS_Store'
Binary files software/Common/.DS_Store	2010-07-23 20:12:14 +0000 and software/Common/.DS_Store	2010-08-07 00:08:43 +0000 differ
=== modified file 'software/Common/JrKerr/nmccom.cpp'
--- software/Common/JrKerr/nmccom.cpp	2010-07-23 20:12:14 +0000
+++ software/Common/JrKerr/nmccom.cpp	2010-08-07 00:08:43 +0000
@@ -44,8 +44,13 @@
     cstr[1] = addr;
     cstr[2] = HARD_RESET;
     cstr[3] = (byte)(cstr[1] + cstr[2]);  //checksum
-
-    ComPort->write(cstr, 4);//send reset
+    int bytesRead = 0;
+    int totalBytes = 4;
+    for (i = 0; i < 4; i++)
+    {
+        ComPort->write(&(cstr[i]), 1);//send reset
+        bytesRead++;
+    }
     usleep(10000);	//wait for reset to execute
     for (i=0; i<nummod_; i++) delete mod[i].p;  //delete and prev. declared modules
     nummod_ = 0;
@@ -54,11 +59,11 @@
 
     ComPort->setBaudRate(BAUD19200);//Reset the baud rate to the default
 
-    ComPort->flush(); //may not work
-    // SioClrInbuf(ComPort);   //clear out any random crap left in buffer
-
-
-    return(true);
+    ComPort->flush(); //clear out any random crap left in buffer
+
+    if (totalBytes != bytesRead)
+        return false;
+    else return true;
 }
 
 //---------------------------------------------------------------------------
@@ -134,22 +139,24 @@
     InitVars();
     if (ComPort != NULL)
         delete ComPort;
-    ComPort = new QextSerialPort(portname, QextSerialPort::EventDriven);
+    ComPort = new QextSerialPort(portname, QextSerialPort::Polling);
     bool open_status = ComPort->open(QIODevice::ReadWrite);
     ComPort->setBaudRate(BAUD19200);
     ComPort->setFlowControl(FLOW_OFF);
     ComPort->setParity(PAR_NONE);
     ComPort->setDataBits(DATA_8);
     ComPort->setStopBits(STOP_1);
-    ComPort->setTimeout(100);
+    //TODO: see how comport behaves w/out a timeout
+    //ComPort->setTimeout(500);
     if (open_status < 0) return 0;
 
-    printf("Resetting NMC devices\n");
-
-    NmcHardReset(0xFF);
-    NmcHardReset(0xFF);
-
-    printf("NMC reset complete\n");
+    qDebug() << "Resetting NMC devices";
+
+    //TODO: change these reset commands because 0xFF is the wrong group address
+    NmcHardReset(0xFF);
+    NmcHardReset(0xFF);
+
+    qDebug() << "NMC reset complete";
     addr = 1;
     while (1)
     {
@@ -167,13 +174,11 @@
         numread = ComPort->read(cstr, 2); //get back status, cksum
         //numread = SioGetChars(ComPort, cstr, 2);
 
-        //jrc352: error reading in characters in SioGetChars
-
         if (numread!=2) break;	//if no response, punt out of loop
 
         if (cstr[0] != cstr[1])
         {
-            printf("Status checksum error - please reset the Network\n");
+            qDebug() << "Status checksum error - please reset the Network";
             ComPort->close();
             return(0);
         }
@@ -189,7 +194,7 @@
 
         if (numread!=4)
         {
-            printf("Could not read device type\n");
+            qDebug() << "Could not read device type";
             ComPort->close();
             return(0);
         }
@@ -201,10 +206,20 @@
         mod[addr].groupleader = false;
         switch (mod[addr].modtype)
         {
-        case SERVOMODTYPE: 	mod[addr].p = ServoNewMod(); break;
-        case ADCMODTYPE: 	mod[addr].p = AdcNewMod(); break;
-        case IOMODTYPE: 	mod[addr].p = IoNewMod(); break;
-        case STEPMODTYPE: 	mod[addr].p = StepNewMod(); break;
+            case SERVOMODTYPE:
+            {
+                mod[addr].p = ServoNewMod();
+                //fix for change in I/O CTRL command
+                if ((mod[addr].modver<10) || (mod[addr].modver>20))
+                {
+                    mod[addr].p = (SERVOMOD *)(mod[addr].p);
+                    //mod[addr].p->ioctrl = IO1_IN | IO2_IN;
+                }
+                break;
+            }
+            case ADCMODTYPE: 	mod[addr].p = AdcNewMod(); break;
+            case IOMODTYPE: 	mod[addr].p = IoNewMod(); break;
+            case STEPMODTYPE: 	mod[addr].p = StepNewMod(); break;
         }
         addr++;		//increment the address
     }
@@ -216,12 +231,12 @@
     if (nummod_ > 0)
     {
         NmcChangeBaud(0xFF, baudrate);
-        if (nummod_>1) printf("%d Modules found\n", nummod_);
-        else printf("%d Module found\n", nummod_);
+        if (nummod_>1) qDebug() << nummod_ << "Modules found";
+        else qDebug() << nummod_ << "Module found";
     }
     else
     {
-        printf("No modules found on the network.\nPlease check power and connections.\n");
+        qDebug() << "No modules found on the network.\nPlease check power and connections.";
         ComPort->close();
     }
 
@@ -248,7 +263,6 @@
     //If too many SIO errors, punt
     if (SioError > MAXSIOERROR)
     {
-        qDebug() << "bad!!!!!";
         return(false);
     }
     IOBusy = true;
@@ -259,7 +273,7 @@
             ( mod[stataddr].modtype==IOMODTYPE)  ||
             ( mod[stataddr].modtype==STEPMODTYPE) ) )
     {
-        printf("Module type %d not supported\n",mod[stataddr].modtype);
+        qDebug() << "Module type" << mod[stataddr].modtype << "not supported";
         return (false);
     }
 
@@ -280,13 +294,15 @@
     ComPort->flush(); //Get rid of any old input chars
 
     int bytesWritten = 0;
+
     for (i = 0; i < n+4; i++)
     {
-        if (ComPort->write(&(char)outstr[i], 1) == 1) bytesWritten++; //Send the command string
+        byte * temp = &(outstr[i]);
+        if(ComPort->write((char *)temp, 1)) bytesWritten++; //Send the command string
     }
 
     if (bytesWritten != n+4)
-        printf("Only wrote %d bytes out of %d bytes.\n",bytesWritten, n+4);
+        qDebug() << "Only wrote " << bytesWritten << " bytes out of " << n+4 << " bytes.";
 
     if (stataddr == 0)		//If a group command w/ no leader, add delay then exit
     {
@@ -325,7 +341,7 @@
     //If too many errors - prompt to reset
     if (SioError >= MAXSIOERROR)
     {
-        printf("Multiple communication errors - please reset the Network\n");
+        qDebug() << "Multiple communication errors - please reset the Network";
         return;
     }
 
@@ -341,12 +357,12 @@
     char cmdstr[2];
 
     if (!(groupaddr & 0x80)) return false;  //punt if not valid group address
-
     cmdstr[0] = addr;
     cmdstr[1] = groupaddr;
     if (leader) cmdstr[1] &= 0x7F;  //clear upper bit if a group leader
     mod[addr].groupaddr = groupaddr;
     mod[addr].groupleader = leader;
+    usleep(50000);
     return NmcSendCmd(addr, SET_ADDR, cmdstr, 2, addr);
 }
 //---------------------------------------------------------------------------
@@ -366,7 +382,7 @@
 //---------------------------------------------------------------------------
 extern "C" BOOL NmcNoOp(byte addr)
 {
-    return NmcSendCmd(addr, NOP, NULL, 0, addr);
+        return NmcSendCmd(addr, NOP, NULL, 0, addr);
 }
 //---------------------------------------------------------------------------
 extern "C" BOOL NmcReadStatus(byte addr, byte statusitems)

=== modified file 'software/Common/JrKerr/nmccom.h'
--- software/Common/JrKerr/nmccom.h	2010-07-12 18:50:09 +0000
+++ software/Common/JrKerr/nmccom.h	2010-08-07 00:08:43 +0000
@@ -13,7 +13,7 @@
 // Non-windows platforms need these too -BR
 //typedef int 		BOOL;  //0=false, <>0 true 
 //typedef int 		HANDLE;
-//typedef unsigned long 	DWORD;
+//typedef unsigned int 	DWORD;
 //#define INVALID_HANDLE_VALUE -1
 
 
@@ -22,7 +22,7 @@
 //jrc352: below taken from "sioutil.h"
 // Non-windows platforms need these too -BR
 typedef int             BOOL;  //0=false, <>0 true
-typedef unsigned long   DWORD;
+typedef unsigned int   DWORD;
 #define INVALID_HANDLE_VALUE -1
 
 typedef struct _NMCMOD {

=== added directory 'software/Common/JrKerr/old_path'
=== added file 'software/Common/JrKerr/old_path/path.cpp'
--- software/Common/JrKerr/old_path/path.cpp	1970-01-01 00:00:00 +0000
+++ software/Common/JrKerr/old_path/path.cpp	2010-08-07 00:08:43 +0000
@@ -0,0 +1,650 @@
+//---------------------------------------------------------------------------
+#pragma hdrstop
+
+#include <math.h>
+#include "path.h"
+#include "nmccom.h"
+#include "picservo.h"
+#include <QDebug>
+//---------------------------------------------------------------------------
+//Globals:
+int pathsize;				//local path size
+segment seglist[MAXSEG];    //list of segments
+int seglistsize;            //number of segments in list
+int curseg;                 //current segment number
+int curppoint;				//current pathpoint
+float tan_tolerance = TAN_3DEGREE;    //minimum cos(th) for angle between tangents
+frame cur_arcframe;         //coordinate fram for the current arc
+float pathlen;      		//total path length
+float arclen;                //total length of path already downloaded
+float stublen;              //length of path in current segment
+int pathfreq = P_30HZ;		//selected path frequency
+int bufsize;   				//max num points to store in the PIC-SERVO buffer
+float maxvel, vel, acc;		//max. velocity, cur velocity & acceleration
+byte x = 1;  				//axes addresses
+byte y = 2;
+byte z = 3;
+byte group = 0xFF;			//group address for coordinated controllers
+byte leader = 0x00;			//group leader address for coordinated controllers
+int finaldecel;				//flag for when final deceleration has started
+int at_end;  				//flags when we are at end of path
+float xoff, yoff, zoff;  	//origin offset
+float UTOCX, UTOCY, UTOCZ;	//Units TO Counts conversion factors
+float tolerance;			//small distance tolerance use for near-zero comparisons
+
+//---------------------------------------------------------------------------
+//  Geometric functions
+//---------------------------------------------------------------------------
+//Returns the magnitude of a floating point vector
+float mag(fp p)
+{
+    return(sqrt(p[0]*p[0] + p[1]*p[1] + p[2]*p[2]));
+}
+//---------------------------------------------------------------------------
+//Returns the dot product of two floating point vectors
+float dot(fp x, fp y)
+{
+    return( x[0]*y[0] + x[1]*y[1] + x[2]*y[2] );
+}
+//---------------------------------------------------------------------------
+//Z is returned as the cross product of (x cross y)
+void cross(fp x, fp y, fp z)
+{
+    z[0] = x[1]*y[2] - x[2]*y[1];
+    z[1] = x[2]*y[0] - x[0]*y[2];
+    z[2] = x[0]*y[1] - x[1]*y[0];
+}
+//---------------------------------------------------------------------------
+//y = normalized x   ( normalize(x,x) works OK )
+float normalize(fp x, fp y)
+{
+    float a;
+
+    a = mag(x);
+    if (a==0.0) return(a);
+
+    y[0] /= a;
+    y[1] /= a;
+    y[2] /= a;
+    return(a);
+}
+//---------------------------------------------------------------------------
+//Cooredinate frame transformation: y =  F*x, ( y = F*y OK )
+void fvmult(frame *F, fp x, fp y)
+{
+    fp xtemp;
+
+    xtemp[0] = x[0];
+    xtemp[1] = x[1];
+    xtemp[2] = x[2];
+    y[0] = F->x[0]*xtemp[0] + F->y[0]*xtemp[1] + F->z[0]*xtemp[2] + F->p[0];
+    y[1] = F->x[1]*xtemp[0] + F->y[1]*xtemp[1] + F->z[1]*xtemp[2] + F->p[1];
+    y[2] = F->x[2]*xtemp[0] + F->y[2]*xtemp[1] + F->z[2]*xtemp[2] + F->p[2];
+}
+//---------------------------------------------------------------------------
+// Coordinate frame inversion: *B = inverse(A)
+void finvert(frame A, frame *B)
+{
+    B->x[1] = A.y[0];
+    B->x[2] = A.z[0];
+    B->y[2] = A.z[1];
+    B->y[0] = A.x[1];
+    B->z[0] = A.x[2];
+    B->z[1] = A.y[2];
+    B->x[0] = A.x[0];
+    B->y[1] = A.y[1];
+    B->z[2] = A.z[2];
+    B->p[0] = -A.x[0]*A.p[0] - A.y[0]*A.p[1] - A.z[0]*A.p[2];
+    B->p[1] = -A.x[1]*A.p[0] - A.y[1]*A.p[1] - A.z[1]*A.p[2];
+    B->p[2] = -A.x[2]*A.p[0] - A.y[2]*A.p[1] - A.z[2]*A.p[2];
+}
+//---------------------------------------------------------------------------
+//Get a normal vector tangent to a segment endpoint (=1 for p1, =2 for p2)
+//returns -1 if segment length or radius < tolerance, 0 on success
+int GetTanVect(segment *s, fp p, int endpoint)
+{
+    fp q;
+
+    if (s->type == LINE)
+    {
+        p[0] = s->p2[0] - s->p1[0];
+        p[1] = s->p2[1] - s->p1[1];
+        p[2] = s->p2[2] - s->p1[2];
+        if (normalize(p, p) < tolerance) return(-1);
+        else return(0);
+    }
+    else if (s->type == ARC)
+    {
+        if (endpoint == 1)
+        {
+            q[0] = s->p1[0] - s->c[0];
+            q[1] = s->p1[1] - s->c[1];
+            q[2] = s->p1[2] - s->c[2];
+        }
+        else
+        {
+            q[0] = s->p2[0] - s->c[0];
+            q[1] = s->p2[1] - s->c[1];
+            q[2] = s->p2[2] - s->c[2];
+        }
+        if (normalize(q, q) < tolerance) return(-1);
+        cross(s->norm, q, p);
+        return(0);
+    }
+
+    return(0);
+}
+//---------------------------------------------------------------------------
+// Segment list functions
+//---------------------------------------------------------------------------
+//Theta = allowable angle (in degrees) between continuous path segments
+extern "C" void SetTangentTolerance(float theta)
+{
+    tan_tolerance = cos(theta*DTOR);
+}
+//---------------------------------------------------------------------------
+// Clear the current segment list and initialize the starting point
+extern "C" void ClearSegList(float xi, float yi, float zi)
+{
+    seglistsize = 0;
+    seglist[0].p1[0] = xi;
+    seglist[0].p1[1] = yi;
+    seglist[0].p1[2] = zi;
+}
+//---------------------------------------------------------------------------
+//Extract the reference frame for an arc
+//Also fills in the radius and arclength
+void GetArcFrame(segment *seg, frame *F)
+{
+    float q, theta;
+    fp p;
+
+    if (seg->type != ARC) return;   //punt if not an arc
+
+    F->p[0] = seg->c[0];		//origin is at the center
+    F->p[1] = seg->c[1];
+    F->p[2] = seg->c[2];
+    F->x[0] = seg->p1[0] - seg->c[0];   //X vector points from center to P1
+    F->x[1] = seg->p1[1] - seg->c[1];
+    F->x[2] = seg->p1[2] - seg->c[2];
+    seg->r = normalize(F->x, F->x);  //extract radius and normalize
+    q = dot(F->x, seg->norm);     //make sure normal vector is perp. to X
+    F->z[0] = seg->norm[0] - q*F->x[0];
+    F->z[1] = seg->norm[1] - q*F->x[1];
+    F->z[2] = seg->norm[2] - q*F->x[2];
+    normalize(F->z, F->z);
+    cross(F->z, F->x, F->y);
+
+    p[0] =  seg->p2[0] - seg->c[0];	//get the arclength
+    p[1] =  seg->p2[1] - seg->c[1];
+    p[2] =  seg->p2[2] - seg->c[2];
+    theta = atan2( dot(p,F->y), dot(p,F->x) );
+    if (theta < 0.0) theta = TWOPI + theta;
+    if (fabs(theta) < 0.001) theta = TWOPI - theta;
+    seg->len = fabs(seg->r * theta);
+}
+//---------------------------------------------------------------------------
+//Add a line segment to the segment list
+//Returns: position in segment list if OK
+//         -1 if segment is not tangent
+//         -2 if segment list is full
+//Function assumes the normal vector of any previous arc segment is accurate
+extern "C" int AddLineSeg(float x, float y, float z)
+{
+    fp pn, qn;
+
+    if (seglistsize >= MAXSEG) return(-2);
+
+    seglist[seglistsize].type = LINE;
+
+    seglist[seglistsize].p2[0] = x;
+    seglist[seglistsize].p2[1] = y;
+    seglist[seglistsize].p2[2] = z;
+
+    if (seglistsize > 0)   //match start point to end point of prev segment
+    {
+        seglist[seglistsize].p1[0] = seglist[seglistsize-1].p2[0];
+        seglist[seglistsize].p1[1] = seglist[seglistsize-1].p2[1];
+        seglist[seglistsize].p1[2] = seglist[seglistsize-1].p2[2];
+    }
+
+    //Calculate normal vector and length for this segment
+    pn[0] = x - seglist[seglistsize].p1[0];
+    pn[1] = y - seglist[seglistsize].p1[1];
+    pn[2] = z - seglist[seglistsize].p1[2];
+    seglist[seglistsize].len = normalize(pn, pn);
+
+    //Check tangency with prev. segment for segments > tolerance:
+    if ( (seglist[seglistsize].len > tolerance) && (seglistsize > 0) )
+        if ( GetTanVect( &(seglist[seglistsize-1]), qn, 2) == 0 )
+            if (dot(pn,qn) < tan_tolerance) return(-1);
+
+    seglistsize++;
+    qDebug() << "seglistsize = " << seglistsize - 1;
+    return(seglistsize - 1);
+}
+//---------------------------------------------------------------------------
+//Add an arc segment to the segment list
+//Returns: position in segment list if OK
+//         -1 if segment is not tangent
+//         -2 if segment list is full
+//		   -3 if arc data invalid
+//(Invalid arc data - zero len. normal, radius < tolerance, normal not perp.)
+//Function assumes the normal vector of any previous arc segment is accurate
+extern "C" int AddArcSeg( float x, float y, float z,        //end point
+                          float cx, float cy, float cz,     //center point
+                          float nx, float ny, float nz )    //normal
+{
+    fp pn, qn;
+    frame F;
+
+    if (seglistsize >= MAXSEG) return(-2);
+
+    seglist[seglistsize].type = ARC;
+
+    seglist[seglistsize].p2[0] = x;
+    seglist[seglistsize].p2[1] = y;
+    seglist[seglistsize].p2[2] = z;
+    seglist[seglistsize].c[0] = cx;
+    seglist[seglistsize].c[1] = cy;
+    seglist[seglistsize].c[2] = cz;
+    seglist[seglistsize].norm[0] = nx;
+    seglist[seglistsize].norm[1] = ny;
+    seglist[seglistsize].norm[2] = nz;
+
+    if (seglistsize > 0)   //match start point to end point of prev segment
+    {
+        seglist[seglistsize].p1[0] = seglist[seglistsize-1].p2[0];
+        seglist[seglistsize].p1[1] = seglist[seglistsize-1].p2[1];
+        seglist[seglistsize].p1[2] = seglist[seglistsize-1].p2[2];
+    }
+
+    //Normalize n and punt if too small
+    if ( normalize(seglist[seglistsize].norm, seglist[seglistsize].norm) < tolerance )
+        return(-3);
+
+    //Find radius to p2, and punt if too small
+    pn[0] = x - cx;
+    pn[1] = y - cy;
+    pn[2] = z - cz;
+    seglist[seglistsize].r = normalize(pn, pn);
+    if ( seglist[seglistsize].r < tolerance) return(-3);
+
+    //Check if normal is perp to c->p2 vector and punt if not
+    if ( fabs(dot(seglist[seglistsize].norm, pn)) > 0.001 ) return(-3);
+
+    //Find radius to p1, and punt if not equal to radius to p2
+    pn[0] = seglist[seglistsize].p1[0] - cx;
+    pn[1] = seglist[seglistsize].p1[1] - cy;
+    pn[2] = seglist[seglistsize].p1[2] - cz;
+    if ( fabs(seglist[seglistsize].r - normalize(pn, pn)) > tolerance) return(-3);
+
+    //Check if normal is perp to c->p2 vector and punt if not
+    if ( fabs(dot(seglist[seglistsize].norm, pn)) > 0.001 ) return(-3);
+
+    //Check for tangency with prev segment
+    if ( seglistsize > 0 )
+    {
+        GetTanVect( &(seglist[seglistsize]), pn, 1);    //get current tangent
+        if ( GetTanVect( &(seglist[seglistsize-1]), qn, 2) == 0 )   //get prev tangent
+            if (dot(pn,qn) < tan_tolerance) return(-1);
+    }
+
+    GetArcFrame(&(seglist[seglistsize]), &F);  //fills in segment length
+
+    seglistsize++;
+    return(seglistsize - 1);
+}
+//---------------------------------------------------------------------------
+//Returns a point p which lies on a line segment, and is a distance s from
+//the start of the line segment
+void GetLineSegPoint(segment *seg, float s, fp p)
+{
+    float r;
+
+    r = s/seg->len;
+    p[0] = seg->p1[0] + r*(seg->p2[0] - seg->p1[0]);
+    p[1] = seg->p1[1] + r*(seg->p2[1] - seg->p1[1]);
+    p[2] = seg->p1[2] + r*(seg->p2[2] - seg->p1[2]);
+}
+//---------------------------------------------------------------------------
+//Set feedrate in units per second
+extern "C" void SetFeedrate(float fr)
+{
+    switch (pathfreq)       //calculate velocity in units per tick
+    {
+    case P_30HZ: maxvel = fr/30.0;
+        break;
+    case P_60HZ: maxvel = fr/60.0;
+        break;
+    case P_120HZ: maxvel = fr/120.0;
+        break;
+    default: maxvel = fr/30.0;
+    }
+}
+//---------------------------------------------------------------------------
+//Set the origin to which all segment data is relative
+extern "C" void SetOrigin(float xoffset, float yoffset, float zoffset)
+{
+    xoff = xoffset;  		//origin offset
+    yoff = yoffset;
+    zoff = zoffset;
+}
+//---------------------------------------------------------------------------
+//Initialize various parameters for this path generation module
+//Returns -1 if Status items are not set properly,
+//        -2 if scale facotrs are zero
+extern "C" int SetPathParams2(int freq, int nbuf,
+                              int xaxis, int yaxis, int zaxis, int groupaddr, int leaderaddr,
+                              float xscale, float yscale, float zscale,
+                              float accel )
+{
+    byte statitems;
+    byte ioctrl;
+
+    //SimpleMsgBox(" PIC-SERVO Coordinated Control Example\n\n- FOR EVALUATION PURPOSES ONLY -");
+
+    pathfreq = freq;        //set to 30 or 60 hz
+    bufsize = nbuf;   	  	//max num points to store in the PIC-SERVO buffer
+    x = (byte)xaxis;  		//axes addresses
+    y = (byte)yaxis;
+    z = (byte)zaxis;
+    group = (byte)groupaddr;
+    leader = (byte)leaderaddr;
+
+    if (freq == P_120HZ)    //set fast path mode if using 120 Hz path
+    {
+        ioctrl = ServoGetIoCtrl(x);
+        ServoSetIoCtrl(x, (byte)(ioctrl | FAST_PATH));
+        ioctrl = ServoGetIoCtrl(y);
+        ServoSetIoCtrl(y, (byte)(ioctrl | FAST_PATH));
+        if (z)
+        {
+            ioctrl = ServoGetIoCtrl(z);
+            ServoSetIoCtrl(z, (byte)(ioctrl | FAST_PATH));
+        }
+    }
+    else    //clear fast path bit if using slower modes
+    {
+        ioctrl = ServoGetIoCtrl(x);
+        ServoSetIoCtrl(x, (byte)(ioctrl & ~((byte)(FAST_PATH)) ));
+        ioctrl = ServoGetIoCtrl(y);
+        ServoSetIoCtrl(y, (byte)(ioctrl & ~((byte)(FAST_PATH)) ));
+        if (z)
+        {
+            ioctrl = ServoGetIoCtrl(z);
+            ServoSetIoCtrl(z, (byte)(ioctrl & ~((byte)(FAST_PATH)) ));
+        }
+    }
+
+    if (fabs(xscale)<1.0 || fabs(yscale)<1.0) return(-2);
+    if ( zaxis && (fabs(zscale)<1.0) ) return(-2);
+
+    UTOCX = xscale;   		//Units To X counts
+    UTOCY = yscale;
+    UTOCZ = zscale;
+
+    //Set the tolerance equivalent to 40 counts of the lowest resolution axis
+    tolerance = fabs(40.0/xscale);
+    if (tolerance < fabs(40.0/yscale)) tolerance = fabs(40.0/yscale);
+    if (zaxis)
+        if (tolerance < fabs(40.0/zscale)) tolerance = fabs(40.0/zscale);
+
+    switch (pathfreq)       //calculate acceleration in units per tick^2
+    {
+    case P_30HZ: acc = accel/30.0/30.0;
+        break;
+    case P_60HZ: acc = accel/60.0/60.0;
+        break;
+    case P_120HZ: acc = accel/120.0/120.0;
+        break;
+    default: acc = accel/30.0/30.0;
+    }
+
+    //Check that the required status data will be returned with each command:
+    statitems = SEND_POS | SEND_NPOINTS | SEND_PERROR | SEND_AUX;
+
+    if ( ( (NmcGetStatItems(x)& statitems) != statitems )  ||
+         ( (NmcGetStatItems(y)& statitems) != statitems )  ||
+         ( (z && (NmcGetStatItems(z)& statitems) != statitems )) )
+    {
+        //ErrorMsgBox("Required status items have not been set");
+        return(-1);
+    }
+
+    return(0);
+}
+//---------------------------------------------------------------------------
+//Initialize various parameters for this path generation module
+//Returns -1 if Status items are not set properly,
+//        -2 if scale facotrs are zero
+extern "C" int SetPathParams(int freq, int nbuf,
+                             int xaxis, int yaxis, int zaxis, int groupaddr, int leaderaddr,
+                             float xscale, float yscale, float zscale,
+                             float accel )
+{
+    byte statitems;
+
+    //SimpleMsgBox(" PIC-SERVO Coordinated Control Example\n\n- FOR EVALUATION PURPOSES ONLY -");
+
+    pathfreq = freq;        //set to 30 or 60 hz
+    bufsize = nbuf;   	  	//max num points to store in the PIC-SERVO buffer
+    x = (byte)xaxis;  		//axes addresses
+    y = (byte)yaxis;
+    z = (byte)zaxis;
+    group = (byte)groupaddr;
+    leader = (byte)leaderaddr;
+
+    if (freq == P_120HZ)    //set fast path mode if using 120 Hz path
+    {
+        ServoSetIoCtrl(x, IO1_IN | IO2_IN | FAST_PATH);
+        ServoSetIoCtrl(y, IO1_IN | IO2_IN | FAST_PATH);
+        if (z) ServoSetIoCtrl(z, IO1_IN | IO2_IN | FAST_PATH);
+    }
+    else     //otherwise, use slow mode
+    {
+        ServoSetIoCtrl(x, IO1_IN | IO2_IN);
+        ServoSetIoCtrl(y, IO1_IN | IO2_IN);
+        if (z) ServoSetIoCtrl(z, IO1_IN | IO2_IN);
+    }
+
+    if (fabs(xscale)<1.0 || fabs(yscale)<1.0) return(-2);
+    if ( zaxis && (fabs(zscale)<1.0) ) return(-2);
+
+    UTOCX = xscale;   		//Units To X counts
+    UTOCY = yscale;
+    UTOCZ = zscale;
+
+    //Set the tolerance equivalent to 40 counts of the lowest resolution axis
+    tolerance = fabs(40.0/xscale);
+    if (tolerance < fabs(40.0/yscale)) tolerance = fabs(40.0/yscale);
+    if (zaxis)
+        if (tolerance < fabs(40.0/zscale)) tolerance = fabs(40.0/zscale);
+
+    switch (pathfreq)       //calculate acceleration in units per tick^2
+    {
+    case P_30HZ: acc = accel/30.0/30.0;
+        break;
+    case P_60HZ: acc = accel/60.0/60.0;
+        break;
+    case P_120HZ: acc = accel/120.0/120.0;
+        break;
+    default: acc = accel/30.0/30.0;
+    }
+
+    //Check that the required status data will be returned with each command:
+    statitems = SEND_POS | SEND_NPOINTS | SEND_PERROR | SEND_AUX;
+
+    if ( ( (NmcGetStatItems(x)& statitems) != statitems )  ||
+         ( (NmcGetStatItems(y)& statitems) != statitems )  ||
+         ( (z && (NmcGetStatItems(z)& statitems) != statitems )) )
+    {
+        //ErrorMsgBox("Required status items have not been set");
+        return(-1);
+    }
+
+    return(0);
+}
+//---------------------------------------------------------------------------
+//Initializes the coordinated path after all of the segments have been added.
+//This function should be called just before the application starts calling
+//the function AddPathPoints().
+//Returns the overall path length for all of the segments.
+//Returns 0.0 on communications error
+extern "C" float InitPath()
+{
+    int i;
+
+    curseg = 0;
+    curppoint = 0;
+    arclen = 0.0;
+    stublen = 0.0;
+    pathlen = 0.0;
+    vel = 0.0;
+    finaldecel = 0;
+    at_end = 0;
+
+    for (i=0; i<seglistsize; i++) pathlen += seglist[i].len;
+
+    if (seglist[0].type == ARC) GetArcFrame( &(seglist[0]), &cur_arcframe );
+
+    //make sure we exit path mode first
+    if (!ServoStopMotor(x, ServoGetStopCtrl(x) & (byte)AMP_ENABLE)) return(0.0);
+    if (!ServoStopMotor(y, ServoGetStopCtrl(y) & (byte)AMP_ENABLE)) return(0.0);
+    if (z)
+        if (!ServoStopMotor(z, ServoGetStopCtrl(z) & (byte)AMP_ENABLE)) return(0.0);
+
+    ServoInitPath(x);   //set the beginning of the path to the current position
+    ServoInitPath(y);
+    if (z) ServoInitPath(z);
+
+    return(pathlen);
+}
+//---------------------------------------------------------------------------
+//Gets the next point in the path.
+//returns -1 if already at the end of the path
+//returns 1 if the last point in the path
+//returns 0 otherwise
+int GetNextPathpoint(int *xp, int *yp, int *zp)
+{
+    fp p;
+
+    if (at_end) return(-1);
+
+    //First check if decelerating to the endpoint
+    if (finaldecel || (vel*vel > 2*acc*(pathlen - arclen)) )
+    {
+        vel -= acc;
+        if (vel<acc) vel = acc;   //use acc value as minimum velocity
+        finaldecel = 1;
+    }
+    else if (vel<maxvel)      //check for acceleration to current maxvel
+    {
+        vel+=acc;
+        if (vel>maxvel) vel = maxvel;
+    }
+    else if (vel>maxvel)      //check for deceleration to current maxvel
+    {
+        vel-=acc;
+        if (vel<maxvel) vel = maxvel;
+    }
+
+    while (1)  //skip over a segment (or more) if necessary
+    {
+        if ( (stublen + vel) > seglist[curseg].len )   //if past end of segment
+        {
+            stublen -= seglist[curseg].len;  		//subtract off the seg length
+            curseg++;  						 		// & move to next segment
+            int cSeg = curseg;
+            int sLen = seglistsize;
+            if (seglist[curseg].type == ARC) 		//update arcframe if necessary
+                GetArcFrame( &(seglist[curseg]), &cur_arcframe );
+            if (curseg == seglistsize)
+            {
+                at_end = 1;  //check for end of segment list
+                break;
+            }
+        }
+        else
+        {
+            stublen += vel;
+            arclen += vel;
+            int tempArclen = arclen;
+            int tempPathlen = pathlen;
+            if (arclen > pathlen) at_end = 1;
+            break;
+        }
+    }
+
+    if (at_end)   //return the final endpoint
+    {
+        *xp = (int)( (seglist[seglistsize-1].p2[0] + xoff) * UTOCX );
+        *yp = (int)( (seglist[seglistsize-1].p2[1] + yoff) * UTOCY );
+        *zp = (int)( (seglist[seglistsize-1].p2[2] + zoff) * UTOCZ );
+    }
+    else   //find the point within the current segment
+    {
+        if (seglist[curseg].type == LINE)
+        {
+            GetLineSegPoint( &(seglist[curseg]), stublen, p );
+        }
+        else if (seglist[curseg].type == ARC)
+        {
+            p[0] = seglist[curseg].r * cos(stublen/seglist[curseg].r);
+            p[1] = seglist[curseg].r * sin(stublen/seglist[curseg].r);
+            p[2] = 0;
+            fvmult(&cur_arcframe, p, p);
+        }
+        *xp = (int)( (p[0] + xoff) * UTOCX );
+        *yp = (int)( (p[1] + yoff) * UTOCY );
+        *zp = (int)( (p[2] + zoff) * UTOCZ );
+    }
+
+    return(at_end);
+}
+//---------------------------------------------------------------------------
+//Adds points to path buffer - should be called at regular intervals which
+//are shorter than the buffer time (bufsize/pathfreq).
+//
+//Returns: -1 if path download is done
+//         curseg if in middle  of the path
+//		   -2 if communication error
+extern "C" int AddPathPoints()
+{
+    int xp[7], yp[7], zp[7];  //set of up to 7 pathpoints
+    int pcount;
+
+    //VEL = MAXVEL = 0.0 defines a feedhold condition
+    //Setting MAXVEL to a non-zero value will resume path execution
+    if (maxvel==0.0 && vel == 0.0) return(curseg);
+
+    while (!at_end)  //GetNextPathpoint() sets the global at_end
+    {
+        if (!NmcNoOp(x)) return(-2);                     //read num points from X
+
+        //punt when PIC-SERVO buffer is full
+        if ((ServoGetNPoints(x)>bufsize) || (ServoGetNPoints(x)>87))
+        {
+            if (!NmcNoOp(y)) return(-2);  //make sure data is updated even if points are not added
+            if (!NmcNoOp(z)) return(-2);
+            break;
+        }
+
+        for (pcount=0; pcount<7; pcount++)     //get upto 7 new points
+            if ( GetNextPathpoint( xp+pcount, yp+pcount, zp+pcount ) ) break;
+
+        if (pcount<7) pcount++;
+
+        if (!ServoAddPathpoints(x, pcount, xp, pathfreq)) return(-2);
+        if (!ServoAddPathpoints(y, pcount, yp, pathfreq)) return(-2);
+        if (z)
+            if (!ServoAddPathpoints(z, pcount, zp, pathfreq)) return(-2);
+    }
+
+    if ( !(ServoGetAux(x) & PATH_MODE) )   //start path mode when buffer full
+        if (!ServoStartPathMode(group, leader)) return(-2);
+
+    if (at_end) return(-1);
+    return(curseg);
+}
+//---------------------------------------------------------------------------

=== added file 'software/Common/JrKerr/old_path/path.h'
--- software/Common/JrKerr/old_path/path.h	1970-01-01 00:00:00 +0000
+++ software/Common/JrKerr/old_path/path.h	2010-08-07 00:08:43 +0000
@@ -0,0 +1,83 @@
+//---------------------------------------------------------------------------
+#ifndef pathH
+#define pathH
+//---------------------------------------------------------------------------
+//Defines:
+
+//Segment types:
+#define LINE 0
+#define ARC 1
+
+#define MAXSEG 1000     //Maximum number of segments
+#define PI 3.14159
+#define TWOPI 6.28319
+#define DTOR 0.017453
+
+//Valuse for tangent tolerance
+#define TAN_1DEGREE 0.99985
+#define TAN_3DEGREE 0.99863
+#define TAN_5DEGREE 0.99619
+#define TAN_10DEGREE 0.98481
+#define TAN_20DEGREE 0.93969
+#define TAN_45DEGREE 0.70711
+
+#define ONLINE 1
+//---------------------------------------------------------------------------
+//Data types:
+
+typedef float fp[3];     //floating point 3x1 vector
+
+typedef int ip[3];  //integer 3x1 vector
+
+typedef struct {         //data type for line segments or arc segments
+			int type;		//LINE or ARC
+			fp p1;          //Starting point
+            fp p2;          //Ending point
+            fp c;           //Center point (arcs only)
+            fp norm;        //Normal vector (arcs only)
+            float len;		//Segment length
+            float r;		//Radius (arcs only)
+            } segment;
+
+typedef struct {         //data type for a coordinate frame
+			fp	x;
+            fp	y;
+            fp	z;
+            fp	p;
+            } frame;
+
+//---------------------------------------------------------------------------
+//Function prototypes:
+float mag(fp p);
+float dot(fp x, fp y);
+void cross(fp x, fp y, fp z);
+float normalize(fp x, fp y);
+void fvmult(frame *F, fp x, fp y);
+void finvert(frame A, frame *B);
+int GetTanVect(segment *s, fp p, int endpoint);
+void GetArcFrame(segment *seg, frame *F);
+void GetLineSegPoint(segment *seg, float s, fp p);
+int GetNextPathpoint(int *xp, int *yp, int *zp);
+
+//Path mode API functions:
+extern "C" void SetTangentTolerance(float theta);
+extern "C" void ClearSegList(float x, float y, float z);
+extern "C" int AddLineSeg(float x, float y, float z);
+extern "C" int AddArcSeg( float x, float y, float z,        //end point
+                           float cx, float cy, float cz,     //center point
+                           float nx, float ny, float nz );    //normal
+extern "C" void SetFeedrate(float fr);
+extern "C" void SetOrigin(float xoffset, float yoffset, float zoffset);
+extern "C" int SetPathParams(int freq, int nbuf,
+                              int xaxis, int yaxis, int zaxis, int groupaddr, int leaderaddr,
+                              float xscale, float yscale, float zscale,
+                              float accel );
+extern "C" int SetPathParams2(int freq, int nbuf,
+                              int xaxis, int yaxis, int zaxis, int groupaddr, int leaderaddr,
+                              float xscale, float yscale, float zscale,
+                              float accel );
+extern "C" float InitPath();
+extern "C" int AddPathPoints();
+
+//---------------------------------------------------------------------------
+#endif

=== modified file 'software/Common/JrKerr/path.cpp'
--- software/Common/JrKerr/path.cpp	2010-07-23 20:12:14 +0000
+++ software/Common/JrKerr/path.cpp	2010-08-07 00:08:43 +0000
@@ -5,7 +5,7 @@
 #include "path.h"
 #include "nmccom.h"
 #include "picservo.h"
-#include <QDebug>
+#include "qdebug.h"
 //---------------------------------------------------------------------------
 //Globals:
 int pathsize;				//local path size
@@ -220,7 +220,6 @@
             if (dot(pn,qn) < tan_tolerance) return(-1);
 
     seglistsize++;
-    qDebug() << "seglistsize = " << seglistsize - 1;
     return(seglistsize - 1);
 }
 //---------------------------------------------------------------------------
@@ -408,7 +407,7 @@
          ( (NmcGetStatItems(y)& statitems) != statitems )  ||
          ( (z && (NmcGetStatItems(z)& statitems) != statitems )) )
     {
-        //ErrorMsgBox("Required status items have not been set");
+        qDebug() << "Required status items have not been set";
         return(-1);
     }
 
@@ -479,7 +478,7 @@
          ( (NmcGetStatItems(y)& statitems) != statitems )  ||
          ( (z && (NmcGetStatItems(z)& statitems) != statitems )) )
     {
-        //ErrorMsgBox("Required status items have not been set");
+        qDebug() << "Required status items have not been set";
         return(-1);
     }
 
@@ -525,7 +524,7 @@
 //returns -1 if already at the end of the path
 //returns 1 if the last point in the path
 //returns 0 otherwise
-int GetNextPathpoint(long int *xp, long int *yp, long int *zp)
+int GetNextPathpoint(int *xp, int *yp, int *zp)
 {
     fp p;
 
@@ -574,9 +573,9 @@
 
     if (at_end)   //return the final endpoint
     {
-        *xp = (long int)( (seglist[seglistsize-1].p2[0] + xoff) * UTOCX );
-        *yp = (long int)( (seglist[seglistsize-1].p2[1] + yoff) * UTOCY );
-        *zp = (long int)( (seglist[seglistsize-1].p2[2] + zoff) * UTOCZ );
+        *xp = (int)( (seglist[seglistsize-1].p2[0] + xoff) * UTOCX );
+        *yp = (int)( (seglist[seglistsize-1].p2[1] + yoff) * UTOCY );
+        *zp = (int)( (seglist[seglistsize-1].p2[2] + zoff) * UTOCZ );
     }
     else   //find the point within the current segment
     {
@@ -591,9 +590,9 @@
             p[2] = 0;
             fvmult(&cur_arcframe, p, p);
         }
-        *xp = (long int)( (p[0] + xoff) * UTOCX );
-        *yp = (long int)( (p[1] + yoff) * UTOCY );
-        *zp = (long int)( (p[2] + zoff) * UTOCZ );
+        *xp = (int)( (p[0] + xoff) * UTOCX );
+        *yp = (int)( (p[1] + yoff) * UTOCY );
+        *zp = (int)( (p[2] + zoff) * UTOCZ );
     }
 
     return(at_end);
@@ -607,7 +606,7 @@
 //		   -2 if communication error
 extern "C" int AddPathPoints()
 {
-    long int xp[7], yp[7], zp[7];  //set of up to 7 pathpoints
+    int xp[7], yp[7], zp[7];  //set of up to 7 pathpoints
     int pcount;
 
     //VEL = MAXVEL = 0.0 defines a feedhold condition

=== modified file 'software/Common/JrKerr/path.h'
--- software/Common/JrKerr/path.h	2010-07-13 18:44:38 +0000
+++ software/Common/JrKerr/path.h	2010-08-07 00:08:43 +0000
@@ -27,7 +27,7 @@
 
 typedef float fp[3];     //floating point 3x1 vector
 
-typedef long int ip[3];  //integer 3x1 vector
+typedef int ip[3];  //integer 3x1 vector
 
 typedef struct {         //data type for line segments or arc segments
 			int type;		//LINE or ARC
@@ -57,25 +57,25 @@
 int GetTanVect(segment *s, fp p, int endpoint);
 void GetArcFrame(segment *seg, frame *F);
 void GetLineSegPoint(segment *seg, float s, fp p);
-int GetNextPathpoint(long int *xp, long int *yp, long int *zp);
+int GetNextPathpoint(int *xp, int *yp, int *zp);
 
 //Path mode API functions:
 extern "C" void SetTangentTolerance(float theta);
 extern "C" void ClearSegList(float x, float y, float z);
 extern "C" int AddLineSeg(float x, float y, float z);
 extern "C" int AddArcSeg( float x, float y, float z,        //end point
-                           float cx, float cy, float cz,     //center point
-                           float nx, float ny, float nz );    //normal
+               										   float cx, float cy, float cz,     //center point
+               										   float nx, float ny, float nz );    //normal
 extern "C" void SetFeedrate(float fr);
 extern "C" void SetOrigin(float xoffset, float yoffset, float zoffset);
 extern "C" int SetPathParams(int freq, int nbuf,
-                              int xaxis, int yaxis, int zaxis, int groupaddr, int leaderaddr,
-                              float xscale, float yscale, float zscale,
-                              float accel );
+                   										  int xaxis, int yaxis, int zaxis, int groupaddr, int leaderaddr,
+                   										  float xscale, float yscale, float zscale,
+                   										  float accel );
 extern "C" int SetPathParams2(int freq, int nbuf,
-                              int xaxis, int yaxis, int zaxis, int groupaddr, int leaderaddr,
-                              float xscale, float yscale, float zscale,
-                              float accel );
+                   										  int xaxis, int yaxis, int zaxis, int groupaddr, int leaderaddr,
+                   										  float xscale, float yscale, float zscale,
+                   										  float accel );
 extern "C" float InitPath();
 extern "C" int AddPathPoints();
 

=== modified file 'software/Common/JrKerr/picservo.cpp'
--- software/Common/JrKerr/picservo.cpp	2010-07-23 20:12:14 +0000
+++ software/Common/JrKerr/picservo.cpp	2010-08-07 00:08:43 +0000
@@ -5,6 +5,7 @@
 #include "qextserialport.h"
 #include <stdio.h>
 #include <unistd.h>
+#include <QDebug>
 
 //---------------------------------------------------------------------------
 extern NMCMOD	mod[]; 		//Array of modules
@@ -37,9 +38,10 @@
 (p->gain).el = 0;
 (p->gain).sr = 1;
 (p->gain).dc = 0;
+(p->gain).sm = 1;
 
 p->stoppos = 0;
-p->ioctrl = IO1_IN | IO2_IN;
+p->ioctrl = 0;
 p->homectrl = 0;
 p->movectrl = 0;
 p->stopctrl = 0;
@@ -72,18 +74,19 @@
 if ( (mod[addr].statusitems) & SEND_PERROR ) numbytes +=2;
 if ( (mod[addr].statusitems) & SEND_NPOINTS ) numbytes +=1;
 QextSerialPort* ComPort = getComPort();
-//usleep(50000);
+//usleep(100000);
 for (i = 0, numrcvd = 0; i < numbytes; i++)
 {
-    if (ComPort->read(&(char)inbuf[i], 1)) numrcvd++;
+    byte* temp = &inbuf[i];
+    if (ComPort->read((char *) temp, 1)) numrcvd++;
 }
 
 
 //Verify enough data was read
 if (numrcvd != numbytes)
 	{
-    printf("ServoGetStat (%d) failed to read chars\n",addr);
-    printf("Read %d bytes out of %d bytes\n", numrcvd, numbytes);
+    qDebug() << "ServoGetStat " << addr << " failed to read chars";
+    qDebug() << "Read " << numrcvd << " bytes out of " << numbytes << " bytes.";
     return false;
     }
 
@@ -92,7 +95,7 @@
 for (i=0; i<numbytes-1; i++) cksum = (byte)(cksum + inbuf[i]);
 if (cksum != inbuf[numbytes-1])
 	{
-    printf("ServoGetStat(%d): checksum error\n",addr);
+    qDebug() << "ServoGetStat" << addr << ": checksum error";
     return false;
     }
 
@@ -100,7 +103,7 @@
 mod[addr].stat = inbuf[0];
 if (mod[addr].stat & CKSUM_ERROR)
 	{
-    printf("Command checksum error!\n");
+    qDebug() << "Command checksum error!";
     return false;
     }
 
@@ -108,7 +111,7 @@
 bytecount = 1;
 if ( (mod[addr].statusitems) & SEND_POS )
 	{
-	p->pos = *( (long *)(inbuf + bytecount) );
+        p->pos = *( (int *)(inbuf + bytecount) );
     bytecount +=4;
     }
 if ( (mod[addr].statusitems) & SEND_AD )
@@ -128,7 +131,7 @@
     }
 if ( (mod[addr].statusitems) & SEND_HOME )
 	{
-    p->home = *( (unsigned long *)(inbuf + bytecount) );
+    p->home = *( (unsigned int *)(inbuf + bytecount) );
     bytecount +=4;
     }
 if ( (mod[addr].statusitems) & SEND_ID )
@@ -144,6 +147,7 @@
     }
 if ( (mod[addr].statusitems) & SEND_NPOINTS )
 	{
+    byte temp = inbuf[bytecount];
     p->npoints = inbuf[bytecount];
     //bytecount +=1;
     }
@@ -151,7 +155,7 @@
 return(true);
 }
 //---------------------------------------------------------------------------
-extern "C" long ServoGetPos(byte addr)
+extern "C" int ServoGetPos(byte addr)
 {
 SERVOMOD * p;
 
@@ -183,7 +187,7 @@
 return p->aux;
 }
 //---------------------------------------------------------------------------
-extern "C" long ServoGetHome(byte addr)
+extern "C" int ServoGetHome(byte addr)
 {
 SERVOMOD * p;
 
@@ -207,7 +211,7 @@
 return p->npoints;
 }
 //---------------------------------------------------------------------------
-extern "C" long ServoGetCmdPos(byte addr)
+extern "C" int ServoGetCmdPos(byte addr)
 {
 SERVOMOD * p;
 
@@ -215,7 +219,7 @@
 return p->cmdpos;
 }
 //---------------------------------------------------------------------------
-extern "C" long ServoGetCmdVel(byte addr)
+extern "C" int ServoGetCmdVel(byte addr)
 {
 SERVOMOD * p;
 
@@ -223,7 +227,7 @@
 return p->cmdvel;
 }
 //---------------------------------------------------------------------------
-extern "C" long ServoGetCmdAcc(byte addr)
+extern "C" int ServoGetCmdAcc(byte addr)
 {
 SERVOMOD * p;
 
@@ -231,7 +235,7 @@
 return p->cmdacc;
 }
 //---------------------------------------------------------------------------
-extern "C" long ServoGetStopPos(byte addr)
+extern "C" int ServoGetStopPos(byte addr)
 {
 SERVOMOD * p;
 
@@ -343,6 +347,9 @@
 *( (byte *)(cmdstr+13) ) = dc;
 
 
+usleep(51000);
+
+
 return NmcSendCmd(addr, SET_GAIN, cmdstr, 14, addr);
 }
 //---------------------------------------------------------------------------//
@@ -434,7 +441,7 @@
 	return NmcSendCmd(addr, SET_GAIN, cmdstr, 15, addr);
 }
 //---------------------------------------------------------------------------
-extern "C" BOOL ServoLoadTraj(byte addr, byte mode, long pos, long vel, long acc, byte pwm)
+extern "C" BOOL ServoLoadTraj(byte addr, byte mode, int pos, int vel, int acc, byte pwm)
 {
 SERVOMOD * p;
 char cmdstr[16];
@@ -449,9 +456,9 @@
 
 count = 0;
 *( (byte *)(cmdstr + count) ) = mode;  count += 1;
-if (mode & LOAD_POS) { *( (long *)(cmdstr + count) ) = pos; count += 4; }
-if (mode & LOAD_VEL) { *( (long *)(cmdstr + count) ) = vel; count += 4; }
-if (mode & LOAD_ACC) { *( (long *)(cmdstr + count) ) = acc; count += 4; }
+if (mode & LOAD_POS) { *( (int *)(cmdstr + count) ) = pos; count += 4; }
+if (mode & LOAD_VEL) { *( (int *)(cmdstr + count) ) = vel; count += 4; }
+if (mode & LOAD_ACC) { *( (int *)(cmdstr + count) ) = acc; count += 4; }
 if (mode & LOAD_PWM) { *( (byte *)(cmdstr + count) ) = pwm; count += 1; }
 
 return NmcSendCmd(addr, LOAD_TRAJ, cmdstr, (byte)count, addr);
@@ -467,14 +474,17 @@
 p->last_ppoint = p->pos + p->perror;
 }
 //---------------------------------------------------------------------------
-extern "C" BOOL ServoAddPathpoints(byte addr, int npoints, long *path, int freq)
+extern "C" BOOL ServoAddPathpoints(byte addr, int npoints, int *path, int freq)
 {
 SERVOMOD * p;
 char cmdstr[16];
-long diff;
+int diff;
 int rev;
 int i;
 
+//npoints must be greater than 0
+if (npoints <= 0) return 0;
+
 p = (SERVOMOD *)(mod[addr].p);
 
 for (i=0; i<npoints; i++)
@@ -559,12 +569,12 @@
 //                  pos: position (-2,147,483,648 - +2,147,483,647)          //
 //  Description:    Sets the module position to the specified value.         //
 //---------------------------------------------------------------------------//
-extern "C" BOOL ServoSetPos(byte addr, long pos)
+extern "C" BOOL ServoSetPos(byte addr, int pos)
 {
 	char cmdstr[6];
 	
 	cmdstr[0] = SET_POS;          //mode byte for reset pos
-	*( (long *)(cmdstr + 1) ) = pos;
+        *( (int *)(cmdstr + 1) ) = pos;
 	
 	return NmcSendCmd(addr, RESET_POS, cmdstr, 5, addr);
 }
@@ -593,7 +603,7 @@
 //                  pos: unprofiled command position                         //
 //  Description:    Stop the motor at the specified position.                //
 //---------------------------------------------------------------------------//
-extern "C" BOOL ServoStopHere(byte addr, byte mode, long pos)
+extern "C" BOOL ServoStopHere(byte addr, byte mode, int pos)
 {
 	SERVOMOD * p;
 	char cmdstr[6];
@@ -603,7 +613,7 @@
 	p->stopctrl = mode;
 	
 	cmdstr[0] = mode;
-	*( (long *)(cmdstr + 1) ) = pos;
+        *( (int *)(cmdstr + 1) ) = pos;
 	
 	return NmcSendCmd(addr, STOP_MOTOR, cmdstr, 5, addr);
 }

=== modified file 'software/Common/JrKerr/picservo.h'
--- software/Common/JrKerr/picservo.h	2010-07-12 18:50:09 +0000
+++ software/Common/JrKerr/picservo.h	2010-08-07 00:08:43 +0000
@@ -24,28 +24,28 @@
 	} GAINVECT;
 
 typedef struct _SERVOMOD {
-    long		pos;     		//current position
+    int		pos;     		//current position
     byte		ad;				//a/d value
     short int	vel;            //current velocity
     byte		aux;            //auxilliary status byte
-    long		home;           //home position
+    int		home;           //home position
     short int	perror;			//position error
     byte		npoints;		//number of points in path buffer
 
     //The following data is stored locally for reference
-    long		cmdpos;			//last commanded position
-    long		cmdvel;			//last commanded velocity
-    long		cmdacc;			//last commanded acceleration
+    int		cmdpos;			//last commanded position
+    int		cmdvel;			//last commanded velocity
+    int		cmdacc;			//last commanded acceleration
     byte		cmdpwm;			//last commanded PWM value
     GAINVECT    gain;
-    long		stoppos;		//motor stop position (used by stop command)
+    int		stoppos;		//motor stop position (used by stop command)
     byte		stopctrl;		//stop control byte
     byte		movectrl;		//load_traj control byte
     byte		ioctrl;			//I/O control byte
     byte		homectrl;		//homing control byte
     byte		ph_adv;			//phase advance (for ss-drive modules)
     byte		ph_off;			//phase offset (for ss-drive modules)
-    long		last_ppoint;	//last path point specified
+    int		last_ppoint;	//last path point specified
     } SERVOMOD;
 
 
@@ -163,17 +163,17 @@
 //Servo module function prototypes:
 extern "C" SERVOMOD * ServoNewMod();
 extern "C" BOOL ServoGetStat(byte addr);
-extern "C" long ServoGetPos(byte addr);
+extern "C" int ServoGetPos(byte addr);
 extern "C" byte ServoGetAD(byte addr);
 extern "C" short int ServoGetVel(byte addr);
 extern "C" byte ServoGetAux(byte addr);
-extern "C" long ServoGetHome(byte addr);
+extern "C" int ServoGetHome(byte addr);
 extern "C" short int ServoGetPError(byte addr);
 extern "C" byte ServoGetNPoints(byte addr);
-extern "C" long ServoGetCmdPos(byte addr);
-extern "C" long ServoGetCmdVel(byte addr);
-extern "C" long ServoGetCmdAcc(byte addr);
-extern "C" long ServoGetStopPos(byte addr);
+extern "C" int ServoGetCmdPos(byte addr);
+extern "C" int ServoGetCmdVel(byte addr);
+extern "C" int ServoGetCmdAcc(byte addr);
+extern "C" int ServoGetStopPos(byte addr);
 extern "C" byte ServoGetCmdPwm(byte addr);
 extern "C" byte ServoGetMoveCtrl(byte addr);
 extern "C" byte ServoGetStopCtrl(byte addr);
@@ -198,15 +198,15 @@
 extern "C" BOOL ServoResetPos(byte addr);
 extern "C" BOOL ServoResetRelHome(byte addr);
 //added
-extern "C" BOOL ServoSetPos(byte addr, long pos);
+extern "C" BOOL ServoSetPos(byte addr, int pos);
 extern "C" BOOL ServoClearBits(byte addr);
 extern "C" BOOL ServoStopMotor(byte addr, byte mode);
 //added
-extern "C" BOOL ServoStopHere(byte addr, byte mode, long pos);
+extern "C" BOOL ServoStopHere(byte addr, byte mode, int pos);
 extern "C" BOOL ServoSetIoCtrl(byte addr, byte mode);
-extern "C" BOOL ServoLoadTraj(byte addr, byte mode, long pos, long vel, long acc, byte pwm);
+extern "C" BOOL ServoLoadTraj(byte addr, byte mode, int pos, int vel, int acc, byte pwm);
 extern "C" void ServoInitPath(byte addr);
-extern "C" BOOL ServoAddPathpoints(byte addr, int npoints, long *path, int freq);
+extern "C" BOOL ServoAddPathpoints(byte addr, int npoints, int *path, int freq);
 extern "C" BOOL ServoStartPathMode(byte groupaddr, byte groupleader);
 //added
 extern "C" BOOL ServoStartMove(byte groupaddr, byte groupleader);

=== modified file 'software/Common/JrKerr/src/.DS_Store'
Binary files software/Common/JrKerr/src/.DS_Store	2010-07-23 20:12:14 +0000 and software/Common/JrKerr/src/.DS_Store	2010-08-07 00:08:43 +0000 differ
=== modified file 'software/Common/JrKerr/src/Makefile'
--- software/Common/JrKerr/src/Makefile	2010-07-22 15:32:37 +0000
+++ software/Common/JrKerr/src/Makefile	2010-08-07 00:08:43 +0000
@@ -1,6 +1,6 @@
 #############################################################################
 # Makefile for building: libqextserialportd.1.0.0.dylib
-# Generated by qmake (2.01a) (Qt 4.6.3) on: Tue Jul 20 14:13:07 2010
+# Generated by qmake (2.01a) (Qt 4.6.3) on: Tue Aug 3 22:47:38 2010
 # Project:  src.pro
 # Template: lib
 # Command: /usr/bin/qmake -spec /usr/local/Qt4.6/mkspecs/macx-g++ -macx -o Makefile src.pro

=== modified file 'software/Common/JrKerr/src/Makefile.Debug'
--- software/Common/JrKerr/src/Makefile.Debug	2010-07-22 15:32:37 +0000
+++ software/Common/JrKerr/src/Makefile.Debug	2010-08-07 00:08:43 +0000
@@ -1,6 +1,6 @@
 #############################################################################
 # Makefile for building: libqextserialportd.1.0.0.dylib
-# Generated by qmake (2.01a) (Qt 4.6.3) on: Tue Jul 20 14:13:07 2010
+# Generated by qmake (2.01a) (Qt 4.6.3) on: Tue Aug 3 22:47:38 2010
 # Project:  src.pro
 # Template: lib
 #############################################################################

=== modified file 'software/Common/JrKerr/src/Makefile.Release'
--- software/Common/JrKerr/src/Makefile.Release	2010-07-22 15:32:37 +0000
+++ software/Common/JrKerr/src/Makefile.Release	2010-08-07 00:08:43 +0000
@@ -1,6 +1,6 @@
 #############################################################################
 # Makefile for building: libqextserialport.1.0.0.dylib
-# Generated by qmake (2.01a) (Qt 4.6.3) on: Tue Jul 20 14:13:07 2010
+# Generated by qmake (2.01a) (Qt 4.6.3) on: Tue Aug 3 22:47:38 2010
 # Project:  src.pro
 # Template: lib
 #############################################################################

=== modified file 'software/Common/JrKerr/src/src.pro.user'
--- software/Common/JrKerr/src/src.pro.user	2010-07-23 20:12:14 +0000
+++ software/Common/JrKerr/src/src.pro.user	2010-08-07 00:08:43 +0000
@@ -22,9 +22,7 @@
  </data>
  <data>
   <variable>RunConfiguration0-UserEnvironmentChanges</variable>
-  <valuelist type="QVariantList">
-   <value type="QString">DYLD_LIBRARY_PATH=$(qextserialport)/src/build</value>
-  </valuelist>
+  <valuelist type="QVariantList"/>
  </data>
  <data>
   <variable>RunConfiguration0-UserName</variable>
@@ -61,32 +59,42 @@
   </valuemap>
  </data>
  <data>
+  <variable>buildConfiguration-Release</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
+   <value key="QtVersionId" type="int">0</value>
+   <value key="ToolChain" type="int">0</value>
+   <value key="addQDumper" type=""></value>
+   <value key="buildConfiguration" type="int">2</value>
+  </valuemap>
+ </data>
+ <data>
   <variable>buildconfiguration-Debug-buildstep0</variable>
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
    <valuelist key="abstractProcess.Environment" type="QVariantList">
-    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-4XNpfV/Render</value>
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
     <value type="QString">COMMAND_MODE=unix2003</value>
-    <value type="QString">DISPLAY=/tmp/launch-s7Hnnm/:0</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
     <value type="QString">HOME=/Users/jcman912</value>
     <value type="QString">LOGNAME=jcman912</value>
     <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
     <value type="QString">QTDIR=/usr/local/Qt4.6</value>
     <value type="QString">SHELL=/bin/bash</value>
-    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-jV3RpK/Listeners</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
     <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
     <value type="QString">USER=jcman912</value>
     <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
    </valuelist>
    <valuelist key="abstractProcess.arguments" type="QVariantList">
-    <value type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/Common/JrKerr/src/src.pro</value>
+    <value type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/Common/JrKerr/src/src.pro</value>
     <value type="QString">-spec</value>
     <value type="QString">macx-g++</value>
     <value type="QString">-r</value>
    </valuelist>
    <value key="abstractProcess.command" type="QString">/usr/bin/qmake</value>
    <value key="abstractProcess.enabled" type="bool">false</value>
-   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/Common/JrKerr/src</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/Common/JrKerr/src</value>
   </valuemap>
  </data>
  <data>
@@ -94,15 +102,15 @@
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
    <valuelist key="abstractProcess.Environment" type="QVariantList">
-    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-4XNpfV/Render</value>
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
     <value type="QString">COMMAND_MODE=unix2003</value>
-    <value type="QString">DISPLAY=/tmp/launch-s7Hnnm/:0</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
     <value type="QString">HOME=/Users/jcman912</value>
     <value type="QString">LOGNAME=jcman912</value>
     <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
     <value type="QString">QTDIR=/usr/local/Qt4.6</value>
     <value type="QString">SHELL=/bin/bash</value>
-    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-jV3RpK/Listeners</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
     <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
     <value type="QString">USER=jcman912</value>
     <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
@@ -113,7 +121,7 @@
    </valuelist>
    <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
    <value key="abstractProcess.enabled" type="bool">true</value>
-   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/Common/JrKerr/src</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/Common/JrKerr/src</value>
   </valuemap>
  </data>
  <data>
@@ -121,37 +129,163 @@
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
    <valuelist key="abstractProcess.Environment" type="QVariantList">
-    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-D74XdB/Render</value>
-    <value type="QString">COMMAND_MODE=unix2003</value>
-    <value type="QString">DISPLAY=/tmp/launch-NT9FlI/:0</value>
-    <value type="QString">HOME=/Users/jcman912</value>
-    <value type="QString">LOGNAME=jcman912</value>
-    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
-    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
-    <value type="QString">SHELL=/bin/bash</value>
-    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-8Wa6tg/Listeners</value>
-    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
-    <value type="QString">USER=jcman912</value>
-    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
-   </valuelist>
-   <value key="abstractProcess.IgnoreReturnValue" type="bool">true</value>
-   <valuelist key="abstractProcess.arguments" type="QVariantList">
-    <value type="QString">clean</value>
-    <value type="QString">-w</value>
-   </valuelist>
-   <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
-   <value key="abstractProcess.enabled" type="bool">true</value>
-   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/Common/JrKerr/src</value>
-   <value key="cleanConfig" type="bool">true</value>
-   <valuelist key="makeargs" type="QVariantList">
-    <value type="QString">clean</value>
-   </valuelist>
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <value key="abstractProcess.IgnoreReturnValue" type="bool">true</value>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">clean</value>
+    <value type="QString">-w</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
+   <value key="abstractProcess.enabled" type="bool">true</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/Common/JrKerr/src</value>
+   <value key="cleanConfig" type="bool">true</value>
+   <valuelist key="makeargs" type="QVariantList">
+    <value type="QString">clean</value>
+   </valuelist>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Debug-cleanstep1</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">*</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/bin/rm</value>
+   <value key="abstractProcess.enabled" type="bool">false</value>
+   <value key="abstractProcess.workingDirectory" type="QString">BUILDDIR</value>
+   <value key="workingDirectory" type="QString">BUILDDIR</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Release-buildstep0</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/Common/JrKerr/src/src.pro</value>
+    <value type="QString">-spec</value>
+    <value type="QString">macx-g++</value>
+    <value type="QString">-r</value>
+    <value type="QString">CONFIG+=release</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/qmake</value>
+   <value key="abstractProcess.enabled" type="bool">true</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/Common/JrKerr/src</value>
+   <valuelist key="qmakeArgs" type="QVariantList">
+    <value type="QString">CONFIG+=release</value>
+   </valuelist>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Release-buildstep1</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <value key="abstractProcess.IgnoreReturnValue" type="bool">false</value>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">-w</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
+   <value key="abstractProcess.enabled" type="bool">true</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/Common/JrKerr/src</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Release-cleanstep0</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <value key="abstractProcess.IgnoreReturnValue" type="bool">true</value>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">clean</value>
+    <value type="QString">-w</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
+   <value key="abstractProcess.enabled" type="bool">true</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/Common/JrKerr/src</value>
+   <value key="cleanConfig" type="bool">true</value>
+   <valuelist key="makeargs" type="QVariantList">
+    <value type="QString">clean</value>
+   </valuelist>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Release-cleanstep1</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
   </valuemap>
  </data>
  <data>
   <variable>buildconfigurations</variable>
   <valuelist type="QVariantList">
    <value type="QString">Debug</value>
+   <value type="QString">Release</value>
   </valuelist>
  </data>
  <data>
@@ -182,9 +316,16 @@
   </valuemap>
  </data>
  <data>
+  <variable>cleanstep1</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString"></value>
+  </valuemap>
+ </data>
+ <data>
   <variable>cleansteps</variable>
   <valuelist type="QVariantList">
    <value type="QString">trolltech.qt4projectmanager.make</value>
+   <value type="QString">projectexplorer.processstep</value>
   </valuelist>
  </data>
  <data>

=== added file 'software/Common/POSIX LIBNMC.zip'
Binary files software/Common/POSIX LIBNMC.zip	1970-01-01 00:00:00 +0000 and software/Common/POSIX LIBNMC.zip	2010-08-07 00:08:43 +0000 differ
=== added file 'software/Duel Syringe - Model 2.config'
--- software/Duel Syringe - Model 2.config	1970-01-01 00:00:00 +0000
+++ software/Duel Syringe - Model 2.config	2010-08-07 00:08:43 +0000
@@ -0,0 +1,197 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<fabAtHomePrinter>
+     <!--Unit of distance is mm for all values.-->
+     <axis>
+          <!--The name of the axis.  Must be unique among axes.  Must be X.-->
+          <name>X</name>
+          <!--The name of the motor that controls this axis.-->
+          <motorName>motor0</motorName>
+     </axis>
+     <axis>
+          <!--The name of the axis.  Must be unique among axes.  Must be Y.-->
+          <name>Y</name>
+          <!--The name of the motor that controls this axis.-->
+          <motorName>motor1</motorName>
+     </axis>
+     <axis>
+          <!--The name of the axis.  Must be unique among axes.  Must be Z.-->
+          <name>Z</name>
+          <!--The name of the motor that controls this axis.-->
+          <motorName>motor2</motorName>
+     </axis>
+     <tool>
+          <bay>
+               <!--The name of the bay.  Must be unique among bays.  Must be Bay 0.-->
+               <name>Bay 0</name>
+               <!--The name of the motor that controls this bay or blank if no motor controls this bay.-->
+               <motorName>motor3</motorName>
+               <location>
+                    <x>0</x>
+                    <y>0</y>
+                    <z>0</z>
+               </location>
+          </bay>
+         <bay>
+           <!--The name of the bay.  Must be unique among bays.  Must be Bay 0.-->
+           <name>Bay 1</name>
+           <!--The name of the motor that controls this bay or blank if no motor controls this bay.-->
+           <motorName>motor4</motorName>
+           <location>
+             <x>0</x>
+             <y>33</y>
+             <z>0</z>
+           </location>
+         </bay>
+     </tool>
+     <motion>
+          <!--Distance that platform moves downwards when pause, cancel, or complete print.-->
+          <platformDelta>40</platformDelta>
+          <!--Magic constant from line 58 of FabAtHomeParameters.h in model 1 code.  Used to calculate values for pushout and suckback.-->
+          <oldMsps>5000</oldMsps>
+     </motion>
+     <electronics>
+          <!--Number of modules that are connected to printer.-->
+          <numModules>5</numModules>
+          <!--COM port that printer is connected to.-->
+          <comPort>4</comPort>
+          <!--Baud rate.-->
+          <baudRate>19200</baudRate>
+          <!--Group address of motors that control axes.-->
+          <xyzGroupAddress>128</xyzGroupAddress>
+          <motor>
+               <name>motor0</name>
+               <!--Address of the motor.-->
+               <address>1</address>
+               <!--Counts to move one unit of distance.-->
+               <countsPerDistanceUnit>236.239</countsPerDistanceUnit>
+               <!--Kp value of motor gains.-->
+               <kp>2200</kp>
+               <!--Kd value of motor gains.-->
+               <kd>30000</kd>
+               <!--Ki value of motor gains.-->
+               <ki>0</ki>
+               <!--IL value of motor gains.-->
+               <il>16000</il>
+               <!--OL value of motor gains.-->
+               <ol>255</ol>
+               <!--CL value of motor gains.-->
+               <cl>0</cl>
+               <!--EL value of motor gains.-->
+               <el>32767</el>
+               <!--SR value of motor gains.-->
+               <sr>1</sr>
+               <!--DB value of motor gains.-->
+               <db>0</db>
+               <!--Ticks per second.-->
+               <ticksPerSecond>1953.125</ticksPerSecond>
+          </motor>
+          <motor>
+               <name>motor1</name>
+               <!--Address of the motor.-->
+               <address>2</address>
+               <!--Counts to move one unit of distance.-->
+               <countsPerDistanceUnit>285.714</countsPerDistanceUnit>
+               <!--Kp value of motor gains.-->
+               <kp>1200</kp>
+               <!--Kd value of motor gains.-->
+               <kd>23000</kd>
+               <!--Ki value of motor gains.-->
+               <ki>0</ki>
+               <!--IL value of motor gains.-->
+               <il>16000</il>
+               <!--OL value of motor gains.-->
+               <ol>255</ol>
+               <!--CL value of motor gains.-->
+               <cl>0</cl>
+               <!--EL value of motor gains.-->
+               <el>32767</el>
+               <!--SR value of motor gains.-->
+               <sr>1</sr>
+               <!--DB value of motor gains.-->
+               <db>0</db>
+               <!--Ticks per second.-->
+               <ticksPerSecond>1953.125</ticksPerSecond>
+          </motor>
+          <motor>
+               <name>motor2</name>
+               <!--Address of the motor.-->
+               <address>3</address>
+               <!--Counts to move one unit of distance.-->
+               <countsPerDistanceUnit>284.900</countsPerDistanceUnit>
+               <!--Kp value of motor gains.-->
+               <kp>1000</kp>
+               <!--Kd value of motor gains.-->
+               <kd>20000</kd>
+               <!--Ki value of motor gains.-->
+               <ki>0</ki>
+               <!--IL value of motor gains.-->
+               <il>16000</il>
+               <!--OL value of motor gains.-->
+               <ol>255</ol>
+               <!--CL value of motor gains.-->
+               <cl>0</cl>
+               <!--EL value of motor gains.-->
+               <el>32767</el>
+               <!--SR value of motor gains.-->
+               <sr>1</sr>
+               <!--DB value of motor gains.-->
+               <db>0</db>
+               <!--Ticks per second.-->
+               <ticksPerSecond>1953.125</ticksPerSecond>
+          </motor>
+          <motor>
+               <name>motor3</name>
+               <!--Address of the motor.-->
+               <address>4</address>
+               <!--Counts to move one unit of distance.-->
+               <countsPerDistanceUnit>17409.1142</countsPerDistanceUnit>
+               <!--Kp value of motor gains.-->
+               <kp>1800</kp>
+               <!--Kd value of motor gains.-->
+               <kd>16000</kd>
+               <!--Ki value of motor gains.-->
+               <ki>0</ki>
+               <!--IL value of motor gains.-->
+               <il>0</il>
+               <!--OL value of motor gains.-->
+               <ol>255</ol>
+               <!--CL value of motor gains.-->
+               <cl>0</cl>
+               <!--EL value of motor gains.-->
+               <el>32767</el>
+               <!--SR value of motor gains.-->
+               <sr>1</sr>
+               <!--DB value of motor gains.-->
+               <db>0</db>
+               <!--Ticks per second.-->
+               <ticksPerSecond>1953.125</ticksPerSecond>
+          </motor>
+          <motor>
+               <name>motor4</name>
+               <!--Address of the motor.-->
+               <address>5</address>
+               <!--Counts to move one unit of distance.-->
+               <countsPerDistanceUnit>17409.1142</countsPerDistanceUnit>
+               <!--Kp value of motor gains.-->
+               <kp>1800</kp>
+               <!--Kd value of motor gains.-->
+               <kd>16000</kd>
+               <!--Ki value of motor gains.-->
+               <ki>0</ki>
+               <!--IL value of motor gains.-->
+               <il>0</il>
+               <!--OL value of motor gains.-->
+               <ol>255</ol>
+               <!--CL value of motor gains.-->
+               <cl>0</cl>
+               <!--EL value of motor gains.-->
+               <el>32767</el>
+               <!--SR value of motor gains.-->
+               <sr>1</sr>
+               <!--DB value of motor gains.-->
+               <db>0</db>
+               <!--Ticks per second.-->
+               <ticksPerSecond>1953.125</ticksPerSecond>
+          </motor>
+     </electronics>
+</fabAtHomePrinter>
\ No newline at end of file

=== modified file 'software/FabInterpreter/.DS_Store'
Binary files software/FabInterpreter/.DS_Store	2010-07-12 23:00:59 +0000 and software/FabInterpreter/.DS_Store	2010-08-07 00:08:43 +0000 differ
=== modified file 'software/FabInterpreter/FabAtHomePrinter.cpp'
--- software/FabInterpreter/FabAtHomePrinter.cpp	2010-07-23 20:12:14 +0000
+++ software/FabInterpreter/FabAtHomePrinter.cpp	2010-08-07 00:08:43 +0000
@@ -1,5 +1,4 @@
 #include "FabAtHomePrinter.h"
-#include <QDebug>
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 FabAtHomePrinter::FabAtHomePrinter():
@@ -9,6 +8,7 @@
         initialized(false),
         printing(false),
         paused(false),
+        pauseSemaphore(0),
         displayText((string)"")
 {
 }
@@ -26,8 +26,6 @@
         //Connect to printer.
         stringstream ss;
 
-        //TODO: change this so you can read in from posix
-        //ss << "COM" << COM_PORT;
         ss << portLocation;
         unsigned int numModulesFound = NmcInit(const_cast<char*>(ss.str().c_str()), BAUD_RATE);
         if(numModulesFound < NUM_MODULES)
@@ -52,7 +50,10 @@
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void FabAtHomePrinter::pausePrint()
 {
-    pausePrintFlag = true;
+    if (this->state().compare("PAUSED") == 0)
+        pauseSemaphore.release();
+    else
+        pausePrintFlag = true;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void FabAtHomePrinter::cancelPrint()
@@ -94,7 +95,6 @@
     {
         i->second.resetPosition();
     }
-    qDebug() << "acceleration: " << (float) PRINT_ACCELERATION;
     return
             axes["X"].motor->setGroup(X_Y_Z_GROUP_ADDRESS, true)
             && axes["Y"].motor->setGroup(X_Y_Z_GROUP_ADDRESS, false)
@@ -165,11 +165,18 @@
         string base = "fabAtHomePrinter 0\\axis "+Util::toString(i)+"\\";
         string name = parser.text(base+"name 0");
         string motorName = parser.text(base+"motorName 0");
+        map<string, Motor, LessThanString>::iterator motor = motors.find(motorName);
         if(motors.find(motorName) == motors.end())
         {
             return "Axis "+name+" references motor "+motorName+" which has not been loaded.";
         }
-        axes[name] = Axis(name,&(motors.find(motorName)->second));
+		
+		//THIS IS WHERE YOU REVERSE THE AXIS
+                if(name.compare("Y") == 0 /*|| name.compare("Z") == 0 */) //CHANGE MADE in v0.1 z should now be pos for down neg for up
+		{
+			motor->second.setReversed(true);
+		}
+		axes[name] = Axis(name,&(motor->second));
     }
 
     //Check that axes named X, Y, and Z were loaded.
@@ -209,6 +216,10 @@
         return "Must load at least one bay.";
     }
 
+    //if the total number of axis motors and bay motors does not equal NUM_MODULES declared in the config file
+    if (tool.bays.size() + axes.size() != NUM_MODULES)
+        return "Invalid number of motors";
+
     return "";
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -241,66 +252,7 @@
             PRINT_ACCELERATION = Util::assertType<double>(child->FirstChild()->Value());
         }
     }
-
     return "";
-/*
-     XMLParser parser;
-     string result = parser.load(filePath);
-     if(result.compare("") != 0)
-     {
-          return result;
-     }
-
-	//Clear previously loaded data.
-	materialCalibrations.clear();
-	model.paths.clear();
-
-     PRINT_ACCELERATION = Util::assertType<double>(parser.text("fabAtHomePrinter 0\\printAcceleration 0"));
-
-     //Load material calibrations.
-     unsigned int count = parser.count("fabAtHomePrinter 0\\materialCalibration");
-     for(unsigned int i = 0; i < count; ++i)
-     {
-          string base = "fabAtHomePrinter 0\\materialCalibration "+Util::toString(i)+"\\";
-          string name = parser.text(base+"name 0");
-          double pathSpeed = Util::assertType<double>(parser.text(base+"pathSpeed 0"));
-          double pathWidth = Util::assertType<double>(parser.text(base+"pathWidth 0"));
-          double depositionRate = Util::assertType<double>(parser.text(base+"depositionRate 0"));
-          double pushout = Util::assertType<double>(parser.text(base+"pushout 0"));
-          double suckback = Util::assertType<double>(parser.text(base+"suckback 0"));
-          double suckbackDelay = Util::assertType<double>(parser.text(base+"suckbackDelay 0"));
-          double clearance = Util::assertType<double>(parser.text(base+"clearance 0"));
-          int pausePaths = Util::assertType<int>(parser.text(base+"pausePaths 0"));
-          double pitch = Util::assertType<double>(parser.text(base+"pitch 0"));
-          materialCalibrations[name] = MaterialCalibration(name,pathSpeed,pathWidth,depositionRate,pushout,suckback,suckbackDelay,clearance,pausePaths,pitch);    
-     }
-
-     //Load paths.
-     unsigned int pathCount = parser.count("fabAtHomePrinter 0\\path");
-     for(unsigned int i = 0; i < pathCount; ++i)
-     {
-          string iBase = "fabAtHomePrinter 0\\path "+Util::toString(i)+"\\";
-          string materialCalibrationName = parser.text(iBase+"materialCalibrationName 0");
-          if(materialCalibrations.find(materialCalibrationName) == materialCalibrations.end())
-          {
-               return "A path references material calibration "+materialCalibrationName+" which has not been loaded.";
-          }
-         	vector<Point> points;
-          unsigned int pointCount = parser.count(iBase+"point");
-          for(unsigned int j = 0; j < pointCount; ++j)
-          {
-               string jBase = iBase+"point "+Util::toString(j)+"\\";
-               double x = Util::assertType<double>(parser.text(jBase+"x 0"));
-			double y = Util::assertType<double>(parser.text(jBase+"y 0"));
-			double z = Util::assertType<double>(parser.text(jBase+"z 0"));
-               points.push_back(Point(x,y,z));
-          }
-     	model.paths.push_back(Path(&(materialCalibrations[materialCalibrationName]),points));
-     }
-     
-     return "";
-     */
-
 }
 string FabAtHomePrinter::state()
 {
@@ -362,7 +314,7 @@
         if(strcmp(child->Value(), "point") == 0)
         {
             double x = Util::assertType<double>(child->FirstChild("x")->FirstChild()->Value());
-            double y = Util::assertType<double>(child->FirstChild("y")->FirstChild()->Value());
+            double y = -Util::assertType<double>(child->FirstChild("y")->FirstChild()->Value());
             double z = Util::assertType<double>(child->FirstChild("z")->FirstChild()->Value());
             points.push_back(Point(x,y,z));
         }
@@ -392,7 +344,10 @@
     pausePathPoints.push_back(Point(start.x, start.y, start.z + PLATFORM_DELTA));
     executePath(Path(NULL,pausePathPoints),NULL,false);
     paused = true;
+    printing = false;
     callWarning("Execution has been paused.  Press OK to resume execution.");
+    pauseSemaphore.acquire();
+    printing = true;
     paused = false;
     //Move the platform up.
     pausePathPoints.clear();
@@ -415,21 +370,20 @@
 
 void FabAtHomePrinter::print()
 {
-    paused = false;
+    //Timer t;
+    //t.start();
     printing = true;
     pausePrintFlag = false;
     cancelPrintFlag = false;
     redoPathFlag = false;
-    if (!initializePathMode())
-        qDebug() << "failed to initialize path parameters";
-    unsigned int i = 0;
-    reportProgress(i, displayText.c_str());
-
+    initializePathMode();
+    int currentPath = 0;
+    reportProgress(currentPath, displayText.c_str());
 
     //Iterate through the loaded paths and execute them.
-    while(i < model.paths.size())
+    while(currentPath < model.paths.size())
     {
-        Path path = model.paths[i]; //Copy construct the path to be executed.
+        Path path = model.paths[currentPath]; //Copy construct the path to be executed.
 
 
         //Find a bay with the required material calibration.
@@ -454,7 +408,7 @@
         //Update the display text.
 
         displayText = "Executing setup path.";
-        reportProgress(i, displayText.c_str());
+        reportProgress(currentPath, displayText.c_str());
 
       	//Move from the current position to the beginning of the current path.
         Point start(axes["X"].motor->getPosition(), axes["Y"].motor->getPosition(), axes["Z"].motor->getPosition()); //The current position.
@@ -463,8 +417,8 @@
 
         //Update the display text.
 
-        displayText = "Executing path "+Util::toString<int>(i+1)+" of "+Util::toString<int>(model.paths.size())+".";
-        reportProgress(i, displayText.c_str());
+        displayText = "Executing path "+Util::toString<int>(currentPath+1)+" of "+Util::toString<int>(model.paths.size())+".";
+        reportProgress(currentPath, displayText.c_str());
 
 
         //Execute the current path.
@@ -496,8 +450,8 @@
         else
         {
             //Move on to the next path.
-            ++i;
-            reportProgress(i, displayText.c_str());
+            currentPath++;
+            reportProgress(currentPath, displayText.c_str());
         }
     }
 
@@ -511,18 +465,22 @@
     {
         displayText = "Fabrication successfully completed.";
     }
-    reportProgress(i, displayText.c_str());
+    reportProgress(currentPath, displayText.c_str());
     //Execution has stopped.  Move the platform down.
     Point start(axes["X"].motor->getPosition(), axes["Y"].motor->getPosition(), axes["Z"].motor->getPosition()); //The current position.
     Point end(start.x, start.y, start.z + PLATFORM_DELTA);
     executeSetupPath(start,end,0);
     printing = false;
+    resetPos();
+    finishedPrinting();
+    //clock_t endTime = std::clock();
+    //t.stop();
+    //qDebug() << t.getTime() << " seconds";
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void FabAtHomePrinter::executePath(const Path& path, Bay* bay, const bool flowDuringPath)
 {
-    qDebug() << "executing path";
     if(flowDuringPath)
     {
         //Want to achieve a steady state during path execution so scale the path speed if necessary.  Copied from model 1 code.
@@ -588,12 +546,10 @@
         axes["Y"].motor->waitMove();
         axes["Z"].motor->waitMove();
     }
-    qDebug() << "done executing path";
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void FabAtHomePrinter::executePoints(const vector<Point>& points, Bay* bay, const bool flowDuringPath, double pushoutDistance, double pushoutVelocity, double standardDistance, double standardVelocity, double suckbackDistance, double suckbackVelocity, const Point& suckbackPoint)
 {
-    qDebug() << "executing points";
     int currIndex = 0;
     int res = -1;
     bool flowStarted = false;
@@ -608,7 +564,6 @@
         //The next index to be added to the segment list is the most recent index that was added to the segment list.
         currIndex = res;
     }
-    qDebug() << "done executing points";
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////		
 int FabAtHomePrinter::fillSegmentList(const vector<Point>& points, const int startIndex)
@@ -637,40 +592,9 @@
     return points.size()-1;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-//TODO: change mode so that the motor is set to "pathing" mode
 void FabAtHomePrinter::downloadSegmentList(Bay* bay, const bool startFlow, bool startSuckback, double pushoutDistance, double pushoutVelocity, double standardDistance, double standardVelocity, double suckbackDistance, double suckbackVelocity, const Point& suckbackPoint)
 {
-    qDebug() << "downloading seg list";
-    /*
-    InitPath();
-    if(startFlow)
-    {
-        bay->motor->moveAbsolute(bay->motor->getCommandedPosition()-pushoutDistance,pushoutVelocity,PRINT_ACCELERATION); //Start pushout.
-    }
-    while(AddPathPoints() == -2) //Start movement.
-    {
-    }
-    if(startFlow)
-    {
-        bay->motor->waitMove(); //Wait for bay movement to finish.
-        bay->motor->moveAbsolute(bay->motor->getCommandedPosition()-standardDistance,standardVelocity,PRINT_ACCELERATION); //Start standard flow.
-    }
-    double xDiff, yDiff;
-    //Move points to the path pointer buffer while handling suckback.
-    while(AddPathPoints() != -1 || startSuckback)
-    {
-        if(startSuckback)
-        {
-            xDiff = suckbackPoint.x - axes["X"].motor->getPosition();
-            yDiff = suckbackPoint.y - axes["Y"].motor->getPosition();
-            if(xDiff*xDiff+yDiff*yDiff < 0.25)
-            {
-                bay->motor->moveAbsolute(bay->motor->getCommandedPosition()+suckbackDistance,suckbackVelocity,PRINT_ACCELERATION); //Start suckback.
-                startSuckback = false;
-            }
-        }
-    }
-    */
+
     InitPath();
     if(startFlow)
     {
@@ -687,13 +611,11 @@
     //Move points to the path pointer buffer while handling suckback.
     double currX, currY, xDiff, yDiff;
     bool doneAddingPoints = false;
-    qDebug() << "adding points ";
     while(!doneAddingPoints || startSuckback)
     {
         if(!doneAddingPoints && AddPathPoints() == -1)
         {
             doneAddingPoints = true;
-            qDebug() << "done adding points";
         }
         if(startSuckback)
         {
@@ -701,23 +623,22 @@
             currY = axes["Y"].motor->getPosition();
             xDiff = suckbackPoint.x - currX;
             yDiff = suckbackPoint.y - currY;
+
             if(xDiff*xDiff+yDiff*yDiff < 0.25)
             {
                 bay->motor->moveAbsolute(bay->motor->getCommandedPosition()+suckbackDistance,suckbackVelocity,PRINT_ACCELERATION); //Start suckback.
                 startSuckback = false;
-                qDebug() << "suckback done";
             }
+
         }
         if(startSuckback && !axes["X"].motor->moving() && !axes["Y"].motor->moving() && !axes["Z"].motor->moving())
         {
             //We have not started suckback and have reached end of path so we may have tunneled through the suckback circle.  Just do the suckback now.
             bay->motor->moveAbsolute(bay->motor->getCommandedPosition()+suckbackDistance,suckbackVelocity,PRINT_ACCELERATION); //Start suckback.
             startSuckback = false;
-            qDebug() << "suckback done";
         }
 
     }
-    qDebug() << "done download segment";
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 bool FabAtHomePrinter::cleanUp()
@@ -733,6 +654,7 @@
         }
         if(result)
         {
+            NmcShutdown();
             initialized = false;
         }
     }
@@ -792,7 +714,7 @@
 }
 void FabAtHomePrinter::reset()
 {
-    NmcHardReset(0xFF);
+    NmcHardReset(X_Y_Z_GROUP_ADDRESS);
 }
 
 bool FabAtHomePrinter::isInitialized()

=== modified file 'software/FabInterpreter/FabAtHomePrinter.h'
--- software/FabInterpreter/FabAtHomePrinter.h	2010-07-23 20:12:14 +0000
+++ software/FabInterpreter/FabAtHomePrinter.h	2010-08-07 00:08:43 +0000
@@ -8,10 +8,13 @@
 #include "Tool.h"
 //PIC-SERVO path header files
 #include "path.h"
+#include "qdebug.h"
+#include <QSemaphore>
 
 class FabAtHomePrinter : public QObject
 {
     Q_OBJECT
+
     //CONSTANTS/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 private:
     byte X_Y_Z_GROUP_ADDRESS;
@@ -20,6 +23,7 @@
     double PLATFORM_DELTA;
     double PRINT_ACCELERATION; //The acceleration that is used while printing.  The unit of PRINT_ACCELERATION is U/(second^2).
     double OLD_MSPS; //Magic constant from line 58 of FabAtHomeParameters.h in model 1 code.  Used to calculate values for pushout and suckback.
+    QSemaphore pauseSemaphore; //A QSemaphore that is triggered once the current path has ended and the pause button was pressed
     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 private:
     Model model;
@@ -97,8 +101,12 @@
     //Returns: "" iff successful or an error message.
     string loadFabFile(string filePath);
 
+    /**
+      Returns the current state the printer is in out of "PRINTING," "IDLE," and "PAUSED"
+    */
     string state();
 
+
     //Initialize the printer.
     //Returns: "" if successful or an error message if failed.
     string initialize(const string& configFilePath, string portLocation);
@@ -117,12 +125,19 @@
     //Returns: True iff successful.
     bool cleanUp(void);
 
+    /**
+        Performs a "hard reset" with the current motors under the XYZ group address
+    */
     void reset();
 
+    /**
+        Checks to see if the current printer configuration is initialized with a valid configuration
+        @return true if initialized, false otherwise
+    */
     bool isInitialized();
 
     //The destructor.
-    ~FabAtHomePrinter(void);
+     ~FabAtHomePrinter(void);
 
 public slots:
 
@@ -141,17 +156,31 @@
     //Force stops motors
     void stopMotors();
 
+    /**
+      Resets the positions of the axis motors
+    */
     void resetPos();
 
 signals:
 
-    void GUI_reportProgress();
-
-    void reportProgress(int, QString);
-
-    void callWarning(QString);
-
-friend class GUIComponentsThread;
+    /**
+        A signal that is issued throughout the print job to update the status of the printer
+        @param i The current path
+        @param str The current status of the printer to be printed to the screen
+    */
+    void reportProgress(int i, QString str);
+
+    /**
+        Triggers a signal to call a message box to the screen
+        @param str The text to be displayed in the message box
+    */
+    void callWarning(QString str);
+
+    /**
+        Issues a signal to mainwindow.cpp when done printing
+    */
+    void finishedPrinting();
+
 };
 
 #endif //ndef FABATHOMEPRINTER_H

=== added file 'software/FabInterpreter/Interpreter'
Binary files software/FabInterpreter/Interpreter	1970-01-01 00:00:00 +0000 and software/FabInterpreter/Interpreter	2010-08-07 00:08:43 +0000 differ
=== modified file 'software/FabInterpreter/Interpreter.app/Contents/MacOS/Interpreter'
Binary files software/FabInterpreter/Interpreter.app/Contents/MacOS/Interpreter	2010-07-23 20:12:14 +0000 and software/FabInterpreter/Interpreter.app/Contents/MacOS/Interpreter	2010-08-07 00:08:43 +0000 differ
=== modified file 'software/FabInterpreter/Interpreter.pro'
--- software/FabInterpreter/Interpreter.pro	2010-07-23 20:12:14 +0000
+++ software/FabInterpreter/Interpreter.pro	2010-08-07 00:08:43 +0000
@@ -3,9 +3,10 @@
 # -------------------------------------------------
 TARGET = Interpreter
 TEMPLATE = app
-INCLUDEPATH += ../Common/JrKerr
-TARGETDEPS =
-#UI_DIR = ../
+INCLUDEPATH += ../Common/JrKerr \
+               ../Common/tinyxml
+DESTDIR = .
+# UI_DIR = ../
 HEADERS += mainwindow.h \
     Point.h \
     InterpreterPath.h \
@@ -34,5 +35,6 @@
     printthread.cpp \
     guicomponentsthread.cpp
 FORMS += mainwindow.ui
+include("win_jrkerr.pro")
 include("jrkerr.pro")
 include("tinyxml.pro")

=== modified file 'software/FabInterpreter/Interpreter.pro.user'
--- software/FabInterpreter/Interpreter.pro.user	2010-07-23 20:12:14 +0000
+++ software/FabInterpreter/Interpreter.pro.user	2010-08-07 00:08:43 +0000
@@ -1,20 +1,24 @@
 <!DOCTYPE QtCreatorProject>
 <qtcreator>
  <data>
-  <variable>RunConfiguration0-Arguments</variable>
-  <valuelist type="QVariantList"/>
- </data>
- <data>
   <variable>RunConfiguration0-BaseEnvironmentBase</variable>
-  <value type="int">1</value>
- </data>
- <data>
-  <variable>RunConfiguration0-Executable</variable>
-  <value type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/FabInterpreter/Interpreter.app</value>
+  <value type="int">2</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-CommandLineArguments</variable>
+  <valuelist type="QVariantList"/>
+ </data>
+ <data>
+  <variable>RunConfiguration0-ProFile</variable>
+  <value type="QString">Interpreter.pro</value>
  </data>
  <data>
   <variable>RunConfiguration0-RunConfiguration.name</variable>
-  <value type="QString">Run /Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/FabInterpreter/Interpreter.app</value>
+  <value type="QString">Interpreter</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-UseDyldImageSuffix</variable>
+  <value type="bool">false</value>
  </data>
  <data>
   <variable>RunConfiguration0-UseTerminal</variable>
@@ -23,69 +27,23 @@
  <data>
   <variable>RunConfiguration0-UserEnvironmentChanges</variable>
   <valuelist type="QVariantList">
-   <value type="QString">DYLD_LIBRARY_PATH=/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/Common/JrKerr/src/build/</value>
+   <value type="QString">DYLD_LIBRARY_PATH=/Users/jcman912/Documents/Fab@Home/Interpreter/software/Common/JrKerr/src/build/</value>
   </valuelist>
  </data>
  <data>
-  <variable>RunConfiguration0-UserName</variable>
-  <value type="QString"></value>
- </data>
- <data>
   <variable>RunConfiguration0-UserSetName</variable>
   <value type="bool">false</value>
  </data>
  <data>
-  <variable>RunConfiguration0-WorkingDirectory</variable>
-  <value type="QString">$BUILDDIR</value>
+  <variable>RunConfiguration0-UserSetWorkingDirectory</variable>
+  <value type="bool">false</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-UserWorkingDirectory</variable>
+  <value type="QString"></value>
  </data>
  <data>
   <variable>RunConfiguration0-type</variable>
-  <value type="QString">ProjectExplorer.CustomExecutableRunConfiguration</value>
- </data>
- <data>
-  <variable>RunConfiguration1-BaseEnvironmentBase</variable>
-  <value type="int">2</value>
- </data>
- <data>
-  <variable>RunConfiguration1-CommandLineArguments</variable>
-  <valuelist type="QVariantList"/>
- </data>
- <data>
-  <variable>RunConfiguration1-ProFile</variable>
-  <value type="QString">Interpreter.pro</value>
- </data>
- <data>
-  <variable>RunConfiguration1-RunConfiguration.name</variable>
-  <value type="QString">Interpreter</value>
- </data>
- <data>
-  <variable>RunConfiguration1-UseDyldImageSuffix</variable>
-  <value type="bool">false</value>
- </data>
- <data>
-  <variable>RunConfiguration1-UseTerminal</variable>
-  <value type="bool">false</value>
- </data>
- <data>
-  <variable>RunConfiguration1-UserEnvironmentChanges</variable>
-  <valuelist type="QVariantList">
-   <value type="QString">DYLD_LIBRARY_PATH=/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/Common/JrKerr/src/build</value>
-  </valuelist>
- </data>
- <data>
-  <variable>RunConfiguration1-UserSetName</variable>
-  <value type="bool">false</value>
- </data>
- <data>
-  <variable>RunConfiguration1-UserSetWorkingDirectory</variable>
-  <value type="bool">false</value>
- </data>
- <data>
-  <variable>RunConfiguration1-UserWorkingDirectory</variable>
-  <value type="QString"></value>
- </data>
- <data>
-  <variable>RunConfiguration1-type</variable>
   <value type="QString">Qt4ProjectManager.Qt4RunConfiguration</value>
  </data>
  <data>
@@ -122,28 +80,28 @@
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
    <valuelist key="abstractProcess.Environment" type="QVariantList">
-    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-Qfrwoi/Render</value>
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
     <value type="QString">COMMAND_MODE=unix2003</value>
-    <value type="QString">DISPLAY=/tmp/launch-KgZP25/:0</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
     <value type="QString">HOME=/Users/jcman912</value>
     <value type="QString">LOGNAME=jcman912</value>
     <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
     <value type="QString">QTDIR=/usr/local/Qt4.6</value>
     <value type="QString">SHELL=/bin/bash</value>
-    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-baFiI1/Listeners</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
     <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
     <value type="QString">USER=jcman912</value>
     <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
    </valuelist>
    <valuelist key="abstractProcess.arguments" type="QVariantList">
-    <value type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/FabInterpreter/Interpreter.pro</value>
+    <value type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter/Interpreter.pro</value>
     <value type="QString">-spec</value>
     <value type="QString">macx-g++</value>
     <value type="QString">-r</value>
    </valuelist>
    <value key="abstractProcess.command" type="QString">/usr/bin/qmake</value>
    <value key="abstractProcess.enabled" type="bool">false</value>
-   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/FabInterpreter</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter</value>
    <valuelist key="qmakeArgs" type="QVariantList"/>
   </valuemap>
  </data>
@@ -152,15 +110,15 @@
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
    <valuelist key="abstractProcess.Environment" type="QVariantList">
-    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-Qfrwoi/Render</value>
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
     <value type="QString">COMMAND_MODE=unix2003</value>
-    <value type="QString">DISPLAY=/tmp/launch-KgZP25/:0</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
     <value type="QString">HOME=/Users/jcman912</value>
     <value type="QString">LOGNAME=jcman912</value>
     <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
     <value type="QString">QTDIR=/usr/local/Qt4.6</value>
     <value type="QString">SHELL=/bin/bash</value>
-    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-baFiI1/Listeners</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
     <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
     <value type="QString">USER=jcman912</value>
     <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
@@ -172,7 +130,7 @@
    </valuelist>
    <value key="abstractProcess.command" type="QString">/Developer/Tools/Qt/uic</value>
    <value key="abstractProcess.enabled" type="bool">true</value>
-   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/FabInterpreter</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter</value>
    <value key="workingDirectory" type="QString">$BUILDDIR</value>
   </valuemap>
  </data>
@@ -181,15 +139,15 @@
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
    <valuelist key="abstractProcess.Environment" type="QVariantList">
-    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-Qfrwoi/Render</value>
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
     <value type="QString">COMMAND_MODE=unix2003</value>
-    <value type="QString">DISPLAY=/tmp/launch-KgZP25/:0</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
     <value type="QString">HOME=/Users/jcman912</value>
     <value type="QString">LOGNAME=jcman912</value>
     <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
     <value type="QString">QTDIR=/usr/local/Qt4.6</value>
     <value type="QString">SHELL=/bin/bash</value>
-    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-baFiI1/Listeners</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
     <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
     <value type="QString">USER=jcman912</value>
     <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
@@ -200,7 +158,7 @@
    </valuelist>
    <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
    <value key="abstractProcess.enabled" type="bool">true</value>
-   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/FabInterpreter</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter</value>
    <valuelist key="makeargs" type="QVariantList"/>
   </valuemap>
  </data>
@@ -209,15 +167,15 @@
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
    <valuelist key="abstractProcess.Environment" type="QVariantList">
-    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-Qfrwoi/Render</value>
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
     <value type="QString">COMMAND_MODE=unix2003</value>
-    <value type="QString">DISPLAY=/tmp/launch-KgZP25/:0</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
     <value type="QString">HOME=/Users/jcman912</value>
     <value type="QString">LOGNAME=jcman912</value>
     <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
     <value type="QString">QTDIR=/usr/local/Qt4.6</value>
     <value type="QString">SHELL=/bin/bash</value>
-    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-baFiI1/Listeners</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
     <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
     <value type="QString">USER=jcman912</value>
     <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
@@ -229,7 +187,7 @@
    </valuelist>
    <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
    <value key="abstractProcess.enabled" type="bool">true</value>
-   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/FabInterpreter</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter</value>
    <value key="makeCmd" type="QString"></value>
    <valuelist key="makeargs" type="QVariantList">
     <value type="QString">clean</value>
@@ -237,61 +195,121 @@
   </valuemap>
  </data>
  <data>
-  <variable>buildconfiguration-Debug-cleanstep1</variable>
-  <valuemap type="QVariantMap">
-   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
-   <valuelist key="abstractProcess.Environment" type="QVariantList">
-    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-Qfrwoi/Render</value>
-    <value type="QString">COMMAND_MODE=unix2003</value>
-    <value type="QString">DISPLAY=/tmp/launch-KgZP25/:0</value>
-    <value type="QString">HOME=/Users/jcman912</value>
-    <value type="QString">LOGNAME=jcman912</value>
-    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
-    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
-    <value type="QString">SHELL=/bin/bash</value>
-    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-baFiI1/Listeners</value>
-    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
-    <value type="QString">USER=jcman912</value>
-    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
-   </valuelist>
-   <valuelist key="abstractProcess.arguments" type="QVariantList">
-    <value type="QString">-f</value>
-    <value type="QString">*</value>
-   </valuelist>
-   <value key="abstractProcess.command" type="QString">/bin/rm</value>
-   <value key="abstractProcess.enabled" type="bool">true</value>
-   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/Common/JrKerr/src/build</value>
-   <value key="workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Updated/Interpreter/software/Common/JrKerr/src/build</value>
-  </valuemap>
- </data>
- <data>
   <variable>buildconfiguration-Release-buildstep0</variable>
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter/Interpreter.pro</value>
+    <value type="QString">-spec</value>
+    <value type="QString">macx-g++</value>
+    <value type="QString">-r</value>
+    <value type="QString">CONFIG+=release</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/qmake</value>
+   <value key="abstractProcess.enabled" type="bool">false</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter</value>
   </valuemap>
  </data>
  <data>
   <variable>buildconfiguration-Release-buildstep1</variable>
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">mainwindow.ui</value>
+    <value type="QString">-o</value>
+    <value type="QString">ui_mainwindow.h</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/Developer/Tools/Qt/uic</value>
+   <value key="abstractProcess.enabled" type="bool">true</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter</value>
+   <value key="workingDirectory" type="QString">$BUILDDIR</value>
   </valuemap>
  </data>
  <data>
   <variable>buildconfiguration-Release-buildstep2</variable>
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-2ujASn/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-G50hon/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-tnIbII/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <value key="abstractProcess.IgnoreReturnValue" type="bool">false</value>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">-w</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
+   <value key="abstractProcess.enabled" type="bool">true</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter</value>
   </valuemap>
  </data>
  <data>
   <variable>buildconfiguration-Release-cleanstep0</variable>
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
-  </valuemap>
- </data>
- <data>
-  <variable>buildconfiguration-Release-cleanstep1</variable>
-  <valuemap type="QVariantMap">
-   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-yszs7Y/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-KnoFzX/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-qLeScv/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <value key="abstractProcess.IgnoreReturnValue" type="bool">false</value>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">clean</value>
+    <value type="QString">-w</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
+   <value key="abstractProcess.enabled" type="bool">true</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter/software/FabInterpreter</value>
+   <value key="makeCmd" type="QString"></value>
+   <valuelist key="makeargs" type="QVariantList">
+    <value type="QString">clean</value>
+   </valuelist>
   </valuemap>
  </data>
  <data>
@@ -336,16 +354,9 @@
   </valuemap>
  </data>
  <data>
-  <variable>cleanstep1</variable>
-  <valuemap type="QVariantMap">
-   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString"></value>
-  </valuemap>
- </data>
- <data>
   <variable>cleansteps</variable>
   <valuelist type="QVariantList">
    <value type="QString">trolltech.qt4projectmanager.make</value>
-   <value type="QString">projectexplorer.processstep</value>
   </valuelist>
  </data>
  <data>

=== modified file 'software/FabInterpreter/Makefile'
--- software/FabInterpreter/Makefile	2010-07-23 20:12:14 +0000
+++ software/FabInterpreter/Makefile	2010-08-07 00:08:43 +0000
@@ -1,6 +1,6 @@
 #############################################################################
 # Makefile for building: Interpreter.app/Contents/MacOS/Interpreter
-# Generated by qmake (2.01a) (Qt 4.6.3) on: Fri Jul 23 10:28:33 2010
+# Generated by qmake (2.01a) (Qt 4.6.3) on: Thu Aug 5 14:50:42 2010
 # Project:  Interpreter.pro
 # Template: app
 # Command: /usr/bin/qmake -spec /usr/local/Qt4.6/mkspecs/macx-g++ -macx -o Makefile Interpreter.pro
@@ -13,7 +13,7 @@
 DEFINES       = -DQT_GUI_LIB -DQT_CORE_LIB -DQT_SHARED
 CFLAGS        = -pipe -g -gdwarf-2 -arch i386 -Wall -W $(DEFINES)
 CXXFLAGS      = -pipe -g -gdwarf-2 -arch i386 -Wall -W $(DEFINES)
-INCPATH       = -I/usr/local/Qt4.6/mkspecs/macx-g++ -I. -I/Library/Frameworks/QtCore.framework/Versions/4/Headers -I/usr/include/QtCore -I/Library/Frameworks/QtGui.framework/Versions/4/Headers -I/usr/include/QtGui -I/usr/include -I../Common/JrKerr -I../Common/JrKerr/src -I. -I. -F/Library/Frameworks
+INCPATH       = -I/usr/local/Qt4.6/mkspecs/macx-g++ -I. -I/Library/Frameworks/QtCore.framework/Versions/4/Headers -I/usr/include/QtCore -I/Library/Frameworks/QtGui.framework/Versions/4/Headers -I/usr/include/QtGui -I/usr/include -I../Common/JrKerr -I../Common/tinyxml -I../Common/JrKerr/src -I. -I. -F/Library/Frameworks
 LINK          = g++
 LFLAGS        = -headerpad_max_install_names -arch i386
 LIBS          = $(SUBLIBS) -F/Library/Frameworks -L../Common/JrKerr/src/build -L/Library/Frameworks -lqextserialportd -framework QtGui -framework QtCore 
@@ -66,7 +66,8 @@
 		../Common/tinyxml/tinyxml.cpp \
 		../Common/tinyxml/tinyxmlerror.cpp \
 		../Common/tinyxml/tinyxmlparser.cpp moc_mainwindow.cpp \
-		moc_FabAtHomePrinter.cpp
+		moc_FabAtHomePrinter.cpp \
+		moc_guicomponentsthread.cpp
 OBJECTS       = main.o \
 		Point.o \
 		InterpreterPath.o \
@@ -90,7 +91,8 @@
 		tinyxmlerror.o \
 		tinyxmlparser.o \
 		moc_mainwindow.o \
-		moc_FabAtHomePrinter.o
+		moc_FabAtHomePrinter.o \
+		moc_guicomponentsthread.o
 DIST          = /usr/local/Qt4.6/mkspecs/common/unix.conf \
 		/usr/local/Qt4.6/mkspecs/common/mac.conf \
 		/usr/local/Qt4.6/mkspecs/common/mac-g++.conf \
@@ -263,13 +265,11 @@
 
 compiler_objective_c_make_all:
 compiler_objective_c_clean:
-compiler_moc_header_make_all: moc_mainwindow.cpp moc_FabAtHomePrinter.cpp
+compiler_moc_header_make_all: moc_mainwindow.cpp moc_FabAtHomePrinter.cpp moc_guicomponentsthread.cpp
 compiler_moc_header_clean:
-	-$(DEL_FILE) moc_mainwindow.cpp moc_FabAtHomePrinter.cpp
+	-$(DEL_FILE) moc_mainwindow.cpp moc_FabAtHomePrinter.cpp moc_guicomponentsthread.cpp
 moc_mainwindow.cpp: Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		Axis.h \
 		Motor.h \
 		../Common/JrKerr/path.h \
@@ -291,8 +291,6 @@
 		Motor.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		../Common/JrKerr/path.h \
 		../Common/JrKerr/picservo.h \
 		Model.h \
@@ -304,6 +302,22 @@
 		FabAtHomePrinter.h
 	/Developer/Tools/Qt/moc $(DEFINES) $(INCPATH) -D__APPLE__ -D__GNUC__ FabAtHomePrinter.h -o moc_FabAtHomePrinter.cpp
 
+moc_guicomponentsthread.cpp: FabAtHomePrinter.h \
+		Axis.h \
+		Motor.h \
+		Util.h \
+		../Common/JrKerr/nmccom.h \
+		../Common/JrKerr/path.h \
+		../Common/JrKerr/picservo.h \
+		Model.h \
+		InterpreterPath.h \
+		Point.h \
+		Tool.h \
+		Bay.h \
+		MaterialCalibration.h \
+		guicomponentsthread.h
+	/Developer/Tools/Qt/moc $(DEFINES) $(INCPATH) -D__APPLE__ -D__GNUC__ guicomponentsthread.h -o moc_guicomponentsthread.cpp
+
 compiler_rcc_make_all:
 compiler_rcc_clean:
 compiler_image_collection_make_all: qmake_image_collection.cpp
@@ -332,8 +346,6 @@
 main.o: main.cpp mainwindow.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		Axis.h \
 		Motor.h \
 		../Common/JrKerr/path.h \
@@ -352,16 +364,12 @@
 
 Point.o: Point.cpp Point.h \
 		Util.h \
-		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h
+		../Common/JrKerr/nmccom.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o Point.o Point.cpp
 
 InterpreterPath.o: InterpreterPath.cpp InterpreterPath.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		Point.h \
 		Tool.h \
 		Bay.h \
@@ -374,8 +382,6 @@
 Motor.o: Motor.cpp Motor.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		../Common/JrKerr/path.h \
 		../Common/JrKerr/picservo.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o Motor.o Motor.cpp
@@ -383,8 +389,6 @@
 Model.o: Model.cpp Model.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		InterpreterPath.h \
 		Point.h \
 		Tool.h \
@@ -397,9 +401,7 @@
 
 MaterialCalibration.o: MaterialCalibration.cpp MaterialCalibration.h \
 		Util.h \
-		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h
+		../Common/JrKerr/nmccom.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o MaterialCalibration.o MaterialCalibration.cpp
 
 FabAtHomePrinter.o: FabAtHomePrinter.cpp FabAtHomePrinter.h \
@@ -407,8 +409,6 @@
 		Motor.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		../Common/JrKerr/path.h \
 		../Common/JrKerr/picservo.h \
 		Model.h \
@@ -423,8 +423,6 @@
 		Motor.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		../Common/JrKerr/path.h \
 		../Common/JrKerr/picservo.h \
 		Point.h \
@@ -435,8 +433,6 @@
 		Motor.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		../Common/JrKerr/path.h \
 		../Common/JrKerr/picservo.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o Axis.o Axis.cpp
@@ -444,8 +440,6 @@
 Tool.o: Tool.cpp Tool.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		Bay.h \
 		Motor.h \
 		../Common/JrKerr/path.h \
@@ -457,8 +451,6 @@
 mainwindow.o: mainwindow.cpp mainwindow.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		Axis.h \
 		Motor.h \
 		../Common/JrKerr/path.h \
@@ -481,8 +473,6 @@
 		Motor.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		../Common/JrKerr/path.h \
 		../Common/JrKerr/picservo.h \
 		Model.h \
@@ -499,8 +489,6 @@
 		Motor.h \
 		Util.h \
 		../Common/JrKerr/nmccom.h \
-		../Common/tinyxml/tinyxml.h \
-		../Common/tinyxml/tinystr.h \
 		../Common/JrKerr/path.h \
 		../Common/JrKerr/picservo.h \
 		Model.h \
@@ -555,6 +543,9 @@
 moc_FabAtHomePrinter.o: moc_FabAtHomePrinter.cpp 
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_FabAtHomePrinter.o moc_FabAtHomePrinter.cpp
 
+moc_guicomponentsthread.o: moc_guicomponentsthread.cpp 
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_guicomponentsthread.o moc_guicomponentsthread.cpp
+
 ####### Install
 
 install:   FORCE

=== modified file 'software/FabInterpreter/Motor.cpp'
--- software/FabInterpreter/Motor.cpp	2010-07-23 20:12:14 +0000
+++ software/FabInterpreter/Motor.cpp	2010-08-07 00:08:43 +0000
@@ -1,194 +1,192 @@
 #include "Motor.h"
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 Motor::Motor(string name,const byte& address, const double countsPerU, const double ticksPerSecond, short kp, short kd, short ki, short il, byte ol, byte cl, short int el, byte sr, byte db):
-initialized(false),
-commandedPosition(0.0),
-isReversed(false),
-NAME(name),
-ADDRESS(address),
-COUNTS_PER_U(countsPerU),
-TICKS_PER_SECOND(ticksPerSecond),
-KP(kp),
-KD(kd),
-KI(ki),
-IL(il),
-OL(ol),
-CL(cl),
-EL(el),
-SR(sr),
-DB(db),
-MIN_COMMANDED_POSITION(-2147483648.0/countsPerU),
-MAX_COMMANDED_POSITION(2147483647.0/countsPerU),
-MIN_COMMANDED_VELOCITY(0.0),
-MAX_COMMANDED_VELOCITY(2500000.0/countsPerU),
-MIN_COMMANDED_ACCELERATION(0.0),
-MAX_COMMANDED_ACCELERATION(125000000000.0/countsPerU)
+        initialized(false),
+        commandedPosition(0.0),
+        isReversed(false),
+        NAME(name),
+        ADDRESS(address),
+        COUNTS_PER_U(countsPerU),
+        TICKS_PER_SECOND(ticksPerSecond),
+        KP(kp),
+        KD(kd),
+        KI(ki),
+        IL(il),
+        OL(ol),
+        CL(cl),
+        EL(el),
+        SR(sr),
+        DB(db),
+        MIN_COMMANDED_POSITION(-2147483648.0/countsPerU),
+        MAX_COMMANDED_POSITION(2147483647.0/countsPerU),
+        MIN_COMMANDED_VELOCITY(0.0),
+        MAX_COMMANDED_VELOCITY(2500000.0/countsPerU),
+        MIN_COMMANDED_ACCELERATION(0.0),
+        MAX_COMMANDED_ACCELERATION(125000000000.0/countsPerU)
 {
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 Motor::Motor():
-initialized(false)
+        initialized(false)
 {
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void Motor::updateData()
 {
-     NmcNoOp(ADDRESS);
+    NmcNoOp(ADDRESS);
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void Motor::setReversed(bool isReversed)
 {
-     this->isReversed = isReversed;
+    this->isReversed = isReversed;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 double Motor::getPosition()
 {
-     updateData();
-     return (isReversed ? -1 : 1) * ServoGetPos(ADDRESS) / COUNTS_PER_U; //Translate count to U.
+    updateData();
+    return (isReversed ? -1 : 1) * ServoGetPos(ADDRESS) / COUNTS_PER_U; //Translate count to U.
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 double Motor::getCommandedPosition()
 {
-     return commandedPosition;
+    return commandedPosition;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 bool Motor::moveAbsolute(double position, double velocity, double acceleration)
 {
-        //if reversed then switches position
-     if(isReversed)
-     {
-          position *= -1;
-     }
-
-         //Checks command againsts given constraints
-     Util::assertTrue
-     (
-          position >= MIN_COMMANDED_POSITION
-          && position <= MAX_COMMANDED_POSITION
-          && velocity >= MIN_COMMANDED_VELOCITY
-          && velocity <= MAX_COMMANDED_VELOCITY
-          && acceleration >= MIN_COMMANDED_ACCELERATION
-          && acceleration <= MAX_COMMANDED_ACCELERATION,
-          "Tried to issue a movement command with arguments that are out of bounds.",
-          __LINE__,__FILE__
-     );
-
-         //sets the commanded position to the given position
-     commandedPosition = position;
-
-     return ServoLoadTraj
-          (
-          ADDRESS,
-          LOAD_POS | LOAD_VEL | LOAD_ACC | ENABLE_SERVO | START_NOW,
-          (long)(position * COUNTS_PER_U), //Translate U to count.
-          (long)(velocity * COUNTS_PER_U / TICKS_PER_SECOND * 65536), //Translate U/second to count/tick * 2^16.
-          (long)(acceleration * COUNTS_PER_U / (TICKS_PER_SECOND * TICKS_PER_SECOND) * 65536), //Translate U/(second^2) to count/(ticks^2) * 2^16.
-          0 //pwm (no effect if not in pwm mode)
-          ) == 1;
+    //if reversed then switches position
+    if(isReversed)
+    {
+        position *= -1;
+    }
+
+    //Checks command againsts given constraints
+    Util::assertTrue
+            (
+                    position >= MIN_COMMANDED_POSITION
+                    && position <= MAX_COMMANDED_POSITION
+                    && velocity >= MIN_COMMANDED_VELOCITY
+                    && velocity <= MAX_COMMANDED_VELOCITY
+                    && acceleration >= MIN_COMMANDED_ACCELERATION
+                    && acceleration <= MAX_COMMANDED_ACCELERATION,
+                    "Tried to issue a movement command with arguments that are out of bounds.",
+                    __LINE__,__FILE__
+                    );
+
+    //sets the commanded position to the given position
+    commandedPosition = position;
+
+    return ServoLoadTraj
+            (
+                    ADDRESS,
+                    LOAD_POS | LOAD_VEL | LOAD_ACC | ENABLE_SERVO | START_NOW,
+                    (int)(position * COUNTS_PER_U), //Translate U to count.
+                    (int)(velocity * COUNTS_PER_U / TICKS_PER_SECOND * 65536), //Translate U/second to count/tick * 2^16.
+                    (int)(acceleration * COUNTS_PER_U / (TICKS_PER_SECOND * TICKS_PER_SECOND) * 65536), //Translate U/(second^2) to count/(ticks^2) * 2^16.
+                    0 //pwm (no effect if not in pwm mode)
+                    ) == 1;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 bool Motor::moveRelative(double positionDelta, double velocity, double acceleration)
 {
-     return moveAbsolute(getPosition()+positionDelta, velocity, acceleration);
+    return moveAbsolute(getPosition()+positionDelta, velocity, acceleration);
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 bool Motor::stop()
 {
-     return cleanUp();
+    return cleanUp();
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 bool Motor::setGroup(byte groupAddress, bool isLeader)
 {
-     return NmcSetGroupAddr(ADDRESS, groupAddress, isLeader) == 1;
+    return NmcSetGroupAddr(ADDRESS, groupAddress, isLeader) == 1;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 bool Motor::resetPosition()
 {
-     ServoResetPos(ADDRESS);
-     commandedPosition = 0.0;
-     return true;
+    ServoResetPos(ADDRESS);
+    commandedPosition = 0.0;
+    return true;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 bool Motor::moving()
 {
-     updateData(); //updates the motor info
-     byte auxByte = ServoGetAux(ADDRESS);
-     bool pathMoving = (auxByte & PATH_MODE) != (char)0;
-     byte statbyte = NmcGetStat(ADDRESS);
-     bool nonPathMoving = !(statbyte & MOVE_DONE);
-     return pathMoving || nonPathMoving;
+    updateData(); //updates the motor info
+    byte auxByte = ServoGetAux(ADDRESS);
+    bool pathMoving = (auxByte & PATH_MODE) != 0;
+    byte statbyte = NmcGetStat(ADDRESS);
+    bool nonPathMoving = !(statbyte & MOVE_DONE);
+    return pathMoving || nonPathMoving;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void Motor::waitMove()
 {
-    qDebug() << "waiting on " << ADDRESS;
-     while(moving())
-     {
-     }
+    while(moving())
+    {
+    }
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 string Motor::initialize()
 {
 
-     if(!initialized)
-     {
-          stringstream ss;
-          if(NmcGetModType(ADDRESS) != SERVOMODTYPE)
-          {
-               ss << "Motor with address " << ADDRESS << " is not a PIC-SERVO motor.";
-               return ss.str();
-          }
-          usleep(51000);
-          if(ServoSetGain(ADDRESS,KP,KD,KI,IL,OL,CL,EL,SR,DB) != 1)
-          {
-               ss << "Failed to set gains for motor with address " << ADDRESS << ".";
-               return ss.str();
-          }
-
-          ServoStopMotor(ADDRESS, AMP_ENABLE | STOP_ABRUPT | ADV_FEATURE);
-          NmcDefineStatus(ADDRESS, SEND_POS | SEND_NPOINTS | SEND_PERROR | SEND_AUX);
-
-          if(!resetPosition())
-          {
-               ss << "Could not reset position for motor with address " << ADDRESS << ".";
-               return ss.str();
-          }
-          initialized = true;
-     }
-     return "";
+    if(!initialized)
+    {
+        stringstream ss;
+        if(NmcGetModType(ADDRESS) != SERVOMODTYPE)
+        {
+            ss << "Motor with address " << ADDRESS << " is not a PIC-SERVO motor.";
+            return ss.str();
+        }
+        if(ServoSetGain(ADDRESS,KP,KD,KI,IL,OL,CL,EL,SR,DB) != 1)
+        {
+            ss << "Failed to set gains for motor with address " << ADDRESS << ".";
+            return ss.str();
+        }
+
+        ServoStopMotor(ADDRESS, AMP_ENABLE | STOP_ABRUPT | ADV_FEATURE);
+        NmcDefineStatus(ADDRESS, SEND_POS | SEND_NPOINTS | SEND_PERROR | SEND_AUX);
+
+        if(!resetPosition())
+        {
+            ss << "Could not reset position for motor with address " << ADDRESS << ".";
+            return ss.str();
+        }
+        initialized = true;
+    }
+    return "";
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 bool Motor::cleanUp()
 {
-     bool result;
-     if(initialized)
-     {
-          result = ServoStopMotor(ADDRESS, STOP_ABRUPT | MOTOR_OFF) == 1 && NmcHardReset(ADDRESS) == 1;
-          if(result)
-          {
-               initialized = false;
-          }
-     }
-     else
-     {
-          result = true;
-     }
-     return result;
+    bool result;
+    if(initialized)
+    {
+        result = ServoStopMotor(ADDRESS, STOP_ABRUPT | MOTOR_OFF) == 1 && NmcHardReset(ADDRESS) == 1;
+        if(result)
+        {
+            initialized = false;
+        }
+    }
+    else
+    {
+        result = true;
+    }
+    return result;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 byte Motor::getAddress(void)
 {
-     return ADDRESS;
+    return ADDRESS;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 double Motor::getCountsPerU(void)
 {
-     return (isReversed ? -1 : 1) * COUNTS_PER_U;
+    return (isReversed ? -1 : 1) * COUNTS_PER_U;
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 Motor::~Motor()
 {
-     cleanUp();
+    cleanUp();
 }
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 double Motor::getMinPosition()

=== modified file 'software/FabInterpreter/Motor.h'
--- software/FabInterpreter/Motor.h	2010-07-23 20:12:14 +0000
+++ software/FabInterpreter/Motor.h	2010-08-07 00:08:43 +0000
@@ -6,94 +6,92 @@
 #include "path.h"
 #include "picservo.h"
 
-#include <QDebug>
-
 
 class Motor
 {
-//CONSTANTS/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+    //CONSTANTS/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 private:
-        string NAME;
-        byte ADDRESS; //The number of the motor port that this motor is plugged in.
+    string NAME;
+    byte ADDRESS; //The number of the motor port that this motor is plugged in.
     double COUNTS_PER_U; //Number of counts for 1 U of motion.
-        double TICKS_PER_SECOND; //Number of ticks that a motor makes per second.
+    double TICKS_PER_SECOND; //Number of ticks that a motor makes per second.
     double MIN_COMMANDED_POSITION; //The minimum position that the motor can go to
-        double MAX_COMMANDED_POSITION; //The maxiumum position that the motor can go to
-        double MIN_COMMANDED_VELOCITY; //The minumum velocity the motor can travel at
-        double MAX_COMMANDED_VELOCITY; //The maximum velocity the motor can travel at
-        double MIN_COMMANDED_ACCELERATION; //The minimum acceleration of the motor
-        double MAX_COMMANDED_ACCELERATION; //The maxiumum acceleration of the motor
-        short KP, KD, KI, IL, EL; //Damping contraints (look up procedure for critically damping motors for more details, also JKerr has documentation)
-        byte OL, CL, SR, DB; //See JKerr's Document for more details on his motor bytes
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+    double MAX_COMMANDED_POSITION; //The maxiumum position that the motor can go to
+    double MIN_COMMANDED_VELOCITY; //The minumum velocity the motor can travel at
+    double MAX_COMMANDED_VELOCITY; //The maximum velocity the motor can travel at
+    double MIN_COMMANDED_ACCELERATION; //The minimum acceleration of the motor
+    double MAX_COMMANDED_ACCELERATION; //The maxiumum acceleration of the motor
+    short KP, KD, KI, IL, EL; //Damping contraints (look up procedure for critically damping motors for more details, also JKerr has documentation)
+    byte OL, CL, SR, DB; //See JKerr's Document for more details on his motor bytes
+    //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 private:
-     double commandedPosition; //desired position of the motor
-     bool initialized; //true is motor is initialized and ready for us, false otherwise
-     bool isReversed; //true if motor direction is to be reversed from default values on controller board
+    double commandedPosition; //desired position of the motor
+    bool initialized; //true is motor is initialized and ready for us, false otherwise
+    bool isReversed; //true if motor direction is to be reversed from default values on controller board
 
-     //Tell hardware to send updated data for this motor to the DLL.
-     void updateData(void);
+    //Tell hardware to send updated data for this motor to the DLL.
+    void updateData(void);
 
 public:
-        Motor(void);
-
-        //Creates a motor with all of the given values (described above)
-        Motor(string name,const byte& address, const double countsPerU, const double ticksPerSecond, short kp, short kd, short ki, short il, byte ol, byte cl, short int el, byte sr, byte db);
-
-        //Returns: The current position of the motor.  The unit of position is U.
-        double getPosition(void);
-
-        double getMinPosition();
-
-        double getMaxPosition();
-
-        //Returns: The most recent position that the motor was commanded to move to by moveAbsolute, moveRelative, and resetPosition functions.  The unit of position is U.
-        double getCommandedPosition(void);
-
-        //Move to a position at a specified velocity and acceleration.
-        //The unit of position is U, the unit of velocity is U/second, and the unit of acceleration is U/(second^2).
-        //Requires MIN_COMMANDED_POSITION <= position <= MAX_COMMANDED_POSITION, MIN_COMMANDED_VELOCITY <= velocity <= MAX_COMMANDED_VELOCITY, MIN_COMMANDED_ACCELERATION <= acceleration <= MAX_COMMANDED_ACCELERATION
-        //Returns true iff command was issued successfully.
-        bool moveAbsolute(double position, double velocity, double acceleration);
-
-        //Move relative to the current position at a specified velocity and acceleration.
-        //Returns true iff command was issued successfully.
-        bool moveRelative(double positionDelta, double velocity, double acceleration);
-
-     //Returns: True iff motor is currently moving.
-     bool moving(void);
-
-        //This function returns as soon as possible after the motor has finished moving.
-        void waitMove(void);
-
-        //Stops the motor
-        bool stop(void);
-
-     //Set whether this motor is reversed.  If a motor is reversed, movement commands will cause the motor to move in the opposite direction.
-     void setReversed(bool);
-
-         //sets the address of the motor on the controller board, see JKerr documentation for more details
-        bool setGroup(byte groupAddress, bool isLeader);
-
-     //The motors current position is considered to be 0 and the motors commanded position is set to 0.
-        bool resetPosition(void);
-
-        //Initialize the motor.
-        //Returns: "" if successful or an error message if failed.
-     string initialize(void);
-
-         //gets the motor address from the controller board
-     byte getAddress(void);
-
-         //gets the ratio of counts of motor movement per real unit of measurement
-     double getCountsPerU(void);
-
-     //Perform cleanup when done using motor.
-        //Returns: True iff successful.
-        bool cleanUp(void);
-
-     //The destructor.
-     ~Motor(void);
+    Motor(void);
+
+    //Creates a motor with all of the given values (described above)
+    Motor(string name,const byte& address, const double countsPerU, const double ticksPerSecond, short kp, short kd, short ki, short il, byte ol, byte cl, short int el, byte sr, byte db);
+
+    //Returns: The current position of the motor.  The unit of position is U.
+    double getPosition(void);
+
+    double getMinPosition();
+
+    double getMaxPosition();
+
+    //Returns: The most recent position that the motor was commanded to move to by moveAbsolute, moveRelative, and resetPosition functions.  The unit of position is U.
+    double getCommandedPosition(void);
+
+    //Move to a position at a specified velocity and acceleration.
+    //The unit of position is U, the unit of velocity is U/second, and the unit of acceleration is U/(second^2).
+    //Requires MIN_COMMANDED_POSITION <= position <= MAX_COMMANDED_POSITION, MIN_COMMANDED_VELOCITY <= velocity <= MAX_COMMANDED_VELOCITY, MIN_COMMANDED_ACCELERATION <= acceleration <= MAX_COMMANDED_ACCELERATION
+    //Returns true iff command was issued successfully.
+    bool moveAbsolute(double position, double velocity, double acceleration);
+
+    //Move relative to the current position at a specified velocity and acceleration.
+    //Returns true iff command was issued successfully.
+    bool moveRelative(double positionDelta, double velocity, double acceleration);
+
+    //Returns: True iff motor is currently moving.
+    bool moving(void);
+
+    //This function returns as soon as possible after the motor has finished moving.
+    void waitMove(void);
+
+    //Stops the motor
+    bool stop(void);
+
+    //Set whether this motor is reversed.  If a motor is reversed, movement commands will cause the motor to move in the opposite direction.
+    void setReversed(bool);
+
+    //sets the address of the motor on the controller board, see JKerr documentation for more details
+    bool setGroup(byte groupAddress, bool isLeader);
+
+    //The motors current position is considered to be 0 and the motors commanded position is set to 0.
+    bool resetPosition(void);
+
+    //Initialize the motor.
+    //Returns: "" if successful or an error message if failed.
+    string initialize(void);
+
+    //gets the motor address from the controller board
+    byte getAddress(void);
+
+    //gets the ratio of counts of motor movement per real unit of measurement
+    double getCountsPerU(void);
+
+    //Perform cleanup when done using motor.
+    //Returns: True iff successful.
+    bool cleanUp(void);
+
+    //The destructor.
+    ~Motor(void);
 
 };
 

=== added directory 'software/FabInterpreter/Path_Tester'
=== added file 'software/FabInterpreter/Path_Tester/.DS_Store'
Binary files software/FabInterpreter/Path_Tester/.DS_Store	1970-01-01 00:00:00 +0000 and software/FabInterpreter/Path_Tester/.DS_Store	2010-08-07 00:08:43 +0000 differ
=== added file 'software/FabInterpreter/Path_Tester/Makefile'
--- software/FabInterpreter/Path_Tester/Makefile	1970-01-01 00:00:00 +0000
+++ software/FabInterpreter/Path_Tester/Makefile	2010-08-07 00:08:43 +0000
@@ -0,0 +1,271 @@
+#############################################################################
+# Makefile for building: Path_Tester
+# Generated by qmake (2.01a) (Qt 4.6.3) on: Wed Jul 28 14:08:54 2010
+# Project:  Path_Tester.pro
+# Template: app
+# Command: /usr/bin/qmake -spec /usr/local/Qt4.6/mkspecs/macx-g++ -macx -o Makefile Path_Tester.pro
+#############################################################################
+
+####### Compiler, tools and options
+
+CC            = gcc
+CXX           = g++
+DEFINES       = -DQT_CORE_LIB -DQT_SHARED
+CFLAGS        = -pipe -g -gdwarf-2 -arch i386 -Wall -W $(DEFINES)
+CXXFLAGS      = -pipe -g -gdwarf-2 -arch i386 -Wall -W $(DEFINES)
+INCPATH       = -I/usr/local/Qt4.6/mkspecs/macx-g++ -I. -I/Library/Frameworks/QtCore.framework/Versions/4/Headers -I/usr/include/QtCore -I/usr/include -I../../Common/JrKerr -I../../Common/JrKerr/src -I. -F/Library/Frameworks
+LINK          = g++
+LFLAGS        = -headerpad_max_install_names -arch i386
+LIBS          = $(SUBLIBS) -F/Library/Frameworks -L../../Common/JrKerr/src/build -L/Library/Frameworks -lqextserialportd -framework QtCore 
+AR            = ar cq
+RANLIB        = ranlib -s
+QMAKE         = /usr/bin/qmake
+TAR           = tar -cf
+COMPRESS      = gzip -9f
+COPY          = cp -f
+SED           = sed
+COPY_FILE     = cp -f
+COPY_DIR      = cp -f -R
+STRIP         = 
+INSTALL_FILE  = $(COPY_FILE)
+INSTALL_DIR   = $(COPY_DIR)
+INSTALL_PROGRAM = $(COPY_FILE)
+DEL_FILE      = rm -f
+SYMLINK       = ln -f -s
+DEL_DIR       = rmdir
+MOVE          = mv -f
+CHK_DIR_EXISTS= test -d
+MKDIR         = mkdir -p
+export MACOSX_DEPLOYMENT_TARGET = 10.4
+
+####### Output directory
+
+OBJECTS_DIR   = ./
+
+####### Files
+
+SOURCES       = main.cpp \
+		../../Common/JrKerr/nmccom.cpp \
+		../../Common/JrKerr/picio.cpp \
+		../../Common/JrKerr/picservo.cpp \
+		../../Common/JrKerr/picstep.cpp \
+		../../Common/JrKerr/path.cpp 
+OBJECTS       = main.o \
+		nmccom.o \
+		picio.o \
+		picservo.o \
+		picstep.o \
+		path.o
+DIST          = /usr/local/Qt4.6/mkspecs/common/unix.conf \
+		/usr/local/Qt4.6/mkspecs/common/mac.conf \
+		/usr/local/Qt4.6/mkspecs/common/mac-g++.conf \
+		/usr/local/Qt4.6/mkspecs/qconfig.pri \
+		/usr/local/Qt4.6/mkspecs/features/qt_functions.prf \
+		/usr/local/Qt4.6/mkspecs/features/qt_config.prf \
+		/usr/local/Qt4.6/mkspecs/features/exclusive_builds.prf \
+		/usr/local/Qt4.6/mkspecs/features/default_pre.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/default_pre.prf \
+		jrkerr.pro \
+		/usr/local/Qt4.6/mkspecs/features/mac/dwarf2.prf \
+		/usr/local/Qt4.6/mkspecs/features/debug.prf \
+		/usr/local/Qt4.6/mkspecs/features/default_post.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/default_post.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/x86.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/objective_c.prf \
+		/usr/local/Qt4.6/mkspecs/features/warn_on.prf \
+		/usr/local/Qt4.6/mkspecs/features/qt.prf \
+		/usr/local/Qt4.6/mkspecs/features/unix/thread.prf \
+		/usr/local/Qt4.6/mkspecs/features/moc.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/rez.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/sdk.prf \
+		/usr/local/Qt4.6/mkspecs/features/resources.prf \
+		/usr/local/Qt4.6/mkspecs/features/uic.prf \
+		/usr/local/Qt4.6/mkspecs/features/yacc.prf \
+		/usr/local/Qt4.6/mkspecs/features/lex.prf \
+		/usr/local/Qt4.6/mkspecs/features/include_source_dir.prf \
+		Path_Tester.pro
+QMAKE_TARGET  = Path_Tester
+DESTDIR       = 
+TARGET        = Path_Tester
+
+####### Custom Compiler Variables
+QMAKE_COMP_QMAKE_OBJECTIVE_CFLAGS = -pipe \
+		-g \
+		-gdwarf-2 \
+		-arch \
+		i386 \
+		-Wall \
+		-W
+
+
+first: all
+####### Implicit rules
+
+.SUFFIXES: .o .c .cpp .cc .cxx .C
+
+.cpp.o:
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
+
+.cc.o:
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
+
+.cxx.o:
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
+
+.C.o:
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
+
+.c.o:
+	$(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
+
+####### Build rules
+
+all: Makefile $(TARGET)
+
+$(TARGET):  $(OBJECTS)  
+	$(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
+
+Makefile: Path_Tester.pro  /usr/local/Qt4.6/mkspecs/macx-g++/qmake.conf /usr/local/Qt4.6/mkspecs/common/unix.conf \
+		/usr/local/Qt4.6/mkspecs/common/mac.conf \
+		/usr/local/Qt4.6/mkspecs/common/mac-g++.conf \
+		/usr/local/Qt4.6/mkspecs/qconfig.pri \
+		/usr/local/Qt4.6/mkspecs/features/qt_functions.prf \
+		/usr/local/Qt4.6/mkspecs/features/qt_config.prf \
+		/usr/local/Qt4.6/mkspecs/features/exclusive_builds.prf \
+		/usr/local/Qt4.6/mkspecs/features/default_pre.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/default_pre.prf \
+		jrkerr.pro \
+		/usr/local/Qt4.6/mkspecs/features/mac/dwarf2.prf \
+		/usr/local/Qt4.6/mkspecs/features/debug.prf \
+		/usr/local/Qt4.6/mkspecs/features/default_post.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/default_post.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/x86.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/objective_c.prf \
+		/usr/local/Qt4.6/mkspecs/features/warn_on.prf \
+		/usr/local/Qt4.6/mkspecs/features/qt.prf \
+		/usr/local/Qt4.6/mkspecs/features/unix/thread.prf \
+		/usr/local/Qt4.6/mkspecs/features/moc.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/rez.prf \
+		/usr/local/Qt4.6/mkspecs/features/mac/sdk.prf \
+		/usr/local/Qt4.6/mkspecs/features/resources.prf \
+		/usr/local/Qt4.6/mkspecs/features/uic.prf \
+		/usr/local/Qt4.6/mkspecs/features/yacc.prf \
+		/usr/local/Qt4.6/mkspecs/features/lex.prf \
+		/usr/local/Qt4.6/mkspecs/features/include_source_dir.prf \
+		/Library/Frameworks/QtCore.framework/QtCore.prl
+	$(QMAKE) -spec /usr/local/Qt4.6/mkspecs/macx-g++ -macx -o Makefile Path_Tester.pro
+/usr/local/Qt4.6/mkspecs/common/unix.conf:
+/usr/local/Qt4.6/mkspecs/common/mac.conf:
+/usr/local/Qt4.6/mkspecs/common/mac-g++.conf:
+/usr/local/Qt4.6/mkspecs/qconfig.pri:
+/usr/local/Qt4.6/mkspecs/features/qt_functions.prf:
+/usr/local/Qt4.6/mkspecs/features/qt_config.prf:
+/usr/local/Qt4.6/mkspecs/features/exclusive_builds.prf:
+/usr/local/Qt4.6/mkspecs/features/default_pre.prf:
+/usr/local/Qt4.6/mkspecs/features/mac/default_pre.prf:
+jrkerr.pro:
+/usr/local/Qt4.6/mkspecs/features/mac/dwarf2.prf:
+/usr/local/Qt4.6/mkspecs/features/debug.prf:
+/usr/local/Qt4.6/mkspecs/features/default_post.prf:
+/usr/local/Qt4.6/mkspecs/features/mac/default_post.prf:
+/usr/local/Qt4.6/mkspecs/features/mac/x86.prf:
+/usr/local/Qt4.6/mkspecs/features/mac/objective_c.prf:
+/usr/local/Qt4.6/mkspecs/features/warn_on.prf:
+/usr/local/Qt4.6/mkspecs/features/qt.prf:
+/usr/local/Qt4.6/mkspecs/features/unix/thread.prf:
+/usr/local/Qt4.6/mkspecs/features/moc.prf:
+/usr/local/Qt4.6/mkspecs/features/mac/rez.prf:
+/usr/local/Qt4.6/mkspecs/features/mac/sdk.prf:
+/usr/local/Qt4.6/mkspecs/features/resources.prf:
+/usr/local/Qt4.6/mkspecs/features/uic.prf:
+/usr/local/Qt4.6/mkspecs/features/yacc.prf:
+/usr/local/Qt4.6/mkspecs/features/lex.prf:
+/usr/local/Qt4.6/mkspecs/features/include_source_dir.prf:
+/Library/Frameworks/QtCore.framework/QtCore.prl:
+qmake:  FORCE
+	@$(QMAKE) -spec /usr/local/Qt4.6/mkspecs/macx-g++ -macx -o Makefile Path_Tester.pro
+
+dist: 
+	@$(CHK_DIR_EXISTS) .tmp/Path_Tester1.0.0 || $(MKDIR) .tmp/Path_Tester1.0.0 
+	$(COPY_FILE) --parents $(SOURCES) $(DIST) .tmp/Path_Tester1.0.0/ && $(COPY_FILE) --parents ../../Common/JrKerr/nmccom.h ../../Common/JrKerr/picio.h ../../Common/JrKerr/picservo.h ../../Common/JrKerr/picstep.h ../../Common/JrKerr/path.h .tmp/Path_Tester1.0.0/ && $(COPY_FILE) --parents main.cpp ../../Common/JrKerr/nmccom.cpp ../../Common/JrKerr/picio.cpp ../../Common/JrKerr/picservo.cpp ../../Common/JrKerr/picstep.cpp ../../Common/JrKerr/path.cpp .tmp/Path_Tester1.0.0/ && (cd `dirname .tmp/Path_Tester1.0.0` && $(TAR) Path_Tester1.0.0.tar Path_Tester1.0.0 && $(COMPRESS) Path_Tester1.0.0.tar) && $(MOVE) `dirname .tmp/Path_Tester1.0.0`/Path_Tester1.0.0.tar.gz . && $(DEL_FILE) -r .tmp/Path_Tester1.0.0
+
+
+clean:compiler_clean 
+	-$(DEL_FILE) $(OBJECTS)
+	-$(DEL_FILE) *~ core *.core
+
+
+####### Sub-libraries
+
+distclean: clean
+	-$(DEL_FILE) $(TARGET) 
+	-$(DEL_FILE) Makefile
+
+
+check: first
+
+mocclean: compiler_moc_header_clean compiler_moc_source_clean
+
+mocables: compiler_moc_header_make_all compiler_moc_source_make_all
+
+compiler_objective_c_make_all:
+compiler_objective_c_clean:
+compiler_moc_header_make_all:
+compiler_moc_header_clean:
+compiler_rcc_make_all:
+compiler_rcc_clean:
+compiler_image_collection_make_all: qmake_image_collection.cpp
+compiler_image_collection_clean:
+	-$(DEL_FILE) qmake_image_collection.cpp
+compiler_moc_source_make_all:
+compiler_moc_source_clean:
+compiler_rez_source_make_all:
+compiler_rez_source_clean:
+compiler_uic_make_all:
+compiler_uic_clean:
+compiler_yacc_decl_make_all:
+compiler_yacc_decl_clean:
+compiler_yacc_impl_make_all:
+compiler_yacc_impl_clean:
+compiler_lex_make_all:
+compiler_lex_clean:
+compiler_clean: 
+
+####### Compile
+
+main.o: main.cpp ../../Common/JrKerr/path.h \
+		../../Common/JrKerr/picservo.h \
+		../../Common/JrKerr/nmccom.h
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o main.o main.cpp
+
+nmccom.o: ../../Common/JrKerr/nmccom.cpp ../../Common/JrKerr/nmccom.h \
+		../../Common/JrKerr/picio.h \
+		../../Common/JrKerr/picservo.h \
+		../../Common/JrKerr/picstep.h
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o nmccom.o ../../Common/JrKerr/nmccom.cpp
+
+picio.o: ../../Common/JrKerr/picio.cpp ../../Common/JrKerr/nmccom.h \
+		../../Common/JrKerr/picio.h
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o picio.o ../../Common/JrKerr/picio.cpp
+
+picservo.o: ../../Common/JrKerr/picservo.cpp ../../Common/JrKerr/nmccom.h \
+		../../Common/JrKerr/picservo.h
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o picservo.o ../../Common/JrKerr/picservo.cpp
+
+picstep.o: ../../Common/JrKerr/picstep.cpp ../../Common/JrKerr/nmccom.h \
+		../../Common/JrKerr/picstep.h
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o picstep.o ../../Common/JrKerr/picstep.cpp
+
+path.o: ../../Common/JrKerr/path.cpp ../../Common/JrKerr/path.h \
+		../../Common/JrKerr/nmccom.h \
+		../../Common/JrKerr/picservo.h
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o path.o ../../Common/JrKerr/path.cpp
+
+####### Install
+
+install:   FORCE
+
+uninstall:   FORCE
+
+FORCE:
+

=== added file 'software/FabInterpreter/Path_Tester/Path_Tester'
Binary files software/FabInterpreter/Path_Tester/Path_Tester	1970-01-01 00:00:00 +0000 and software/FabInterpreter/Path_Tester/Path_Tester	2010-08-07 00:08:43 +0000 differ
=== added file 'software/FabInterpreter/Path_Tester/Path_Tester.pro'
--- software/FabInterpreter/Path_Tester/Path_Tester.pro	1970-01-01 00:00:00 +0000
+++ software/FabInterpreter/Path_Tester/Path_Tester.pro	2010-08-07 00:08:43 +0000
@@ -0,0 +1,21 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2010-07-28T12:10:08
+#
+#-------------------------------------------------
+
+QT       -= gui
+
+TARGET = Path_Tester
+CONFIG   += console
+CONFIG   -= app_bundle
+
+INCLUDEPATH += ../../Common/JrKerr
+
+
+TEMPLATE = app
+
+
+SOURCES += main.cpp
+
+include("jrkerr.pro")

=== added file 'software/FabInterpreter/Path_Tester/Path_Tester.pro.user'
--- software/FabInterpreter/Path_Tester/Path_Tester.pro.user	1970-01-01 00:00:00 +0000
+++ software/FabInterpreter/Path_Tester/Path_Tester.pro.user	2010-08-07 00:08:43 +0000
@@ -0,0 +1,228 @@
+<!DOCTYPE QtCreatorProject>
+<qtcreator>
+ <data>
+  <variable>RunConfiguration0-BaseEnvironmentBase</variable>
+  <value type="int">2</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-CommandLineArguments</variable>
+  <valuelist type="QVariantList"/>
+ </data>
+ <data>
+  <variable>RunConfiguration0-ProFile</variable>
+  <value type="QString">Path_Tester.pro</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-RunConfiguration.name</variable>
+  <value type="QString">Path_Tester</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-UseDyldImageSuffix</variable>
+  <value type="bool">false</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-UseTerminal</variable>
+  <value type="bool">false</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-UserEnvironmentChanges</variable>
+  <valuelist type="QVariantList">
+   <value type="QString">DYLD_LIBRARY_PATH=/Users/jcman912/Documents/Fab@Home/Interpreter_Experimental/software/Common/JrKerr/src/build/</value>
+  </valuelist>
+ </data>
+ <data>
+  <variable>RunConfiguration0-UserSetName</variable>
+  <value type="bool">false</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-UserSetWorkingDirectory</variable>
+  <value type="bool">false</value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-UserWorkingDirectory</variable>
+  <value type="QString"></value>
+ </data>
+ <data>
+  <variable>RunConfiguration0-type</variable>
+  <value type="QString">Qt4ProjectManager.Qt4RunConfiguration</value>
+ </data>
+ <data>
+  <variable>activeRunConfiguration</variable>
+  <value type="int">0</value>
+ </data>
+ <data>
+  <variable>activebuildconfiguration</variable>
+  <value type="QString">Debug</value>
+ </data>
+ <data>
+  <variable>buildConfiguration-Debug</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
+   <value key="QtVersionId" type="int">0</value>
+   <value key="ToolChain" type="int">0</value>
+   <value key="buildConfiguration" type="int">2</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildConfiguration-Release</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
+   <value key="QtVersionId" type="int">0</value>
+   <value key="buildConfiguration" type="int">0</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Debug-buildstep0</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-4YVcSb/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-2sCJnY/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-CtydgP/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Experimental/software/FabInterpreter/Path_Tester/Path_Tester.pro</value>
+    <value type="QString">-spec</value>
+    <value type="QString">macx-g++</value>
+    <value type="QString">-r</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/qmake</value>
+   <value key="abstractProcess.enabled" type="bool">false</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Experimental/software/FabInterpreter/Path_Tester</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Debug-buildstep1</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-4YVcSb/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-2sCJnY/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-CtydgP/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <value key="abstractProcess.IgnoreReturnValue" type="bool">false</value>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">-w</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
+   <value key="abstractProcess.enabled" type="bool">true</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Experimental/software/FabInterpreter/Path_Tester</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Debug-cleanstep0</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
+   <valuelist key="abstractProcess.Environment" type="QVariantList">
+    <value type="QString">Apple_PubSub_Socket_Render=/tmp/launch-4YVcSb/Render</value>
+    <value type="QString">COMMAND_MODE=unix2003</value>
+    <value type="QString">DISPLAY=/tmp/launch-2sCJnY/:0</value>
+    <value type="QString">HOME=/Users/jcman912</value>
+    <value type="QString">LOGNAME=jcman912</value>
+    <value type="QString">PATH=/Developer/Tools/Qt:/usr/bin:/bin:/usr/sbin:/sbin</value>
+    <value type="QString">QTDIR=/usr/local/Qt4.6</value>
+    <value type="QString">SHELL=/bin/bash</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/launch-CtydgP/Listeners</value>
+    <value type="QString">TMPDIR=/var/folders/8P/8PQFGUtFGT8ZgHC7XbQ0r++++TI/-Tmp-/</value>
+    <value type="QString">USER=jcman912</value>
+    <value type="QString">__CF_USER_TEXT_ENCODING=0x1F5:0:0</value>
+   </valuelist>
+   <value key="abstractProcess.IgnoreReturnValue" type="bool">true</value>
+   <valuelist key="abstractProcess.arguments" type="QVariantList">
+    <value type="QString">clean</value>
+    <value type="QString">-w</value>
+   </valuelist>
+   <value key="abstractProcess.command" type="QString">/usr/bin/make</value>
+   <value key="abstractProcess.enabled" type="bool">true</value>
+   <value key="abstractProcess.workingDirectory" type="QString">/Users/jcman912/Documents/Fab@Home/Interpreter_Experimental/software/FabInterpreter/Path_Tester</value>
+   <value key="cleanConfig" type="bool">true</value>
+   <valuelist key="makeargs" type="QVariantList">
+    <value type="QString">clean</value>
+   </valuelist>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Release-buildstep0</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Release-buildstep1</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfiguration-Release-cleanstep0</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Release</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildconfigurations</variable>
+  <valuelist type="QVariantList">
+   <value type="QString">Debug</value>
+   <value type="QString">Release</value>
+  </valuelist>
+ </data>
+ <data>
+  <variable>buildstep0</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString"></value>
+   <value key="mkspec" type="QString"></value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildstep1</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString"></value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>buildsteps</variable>
+  <valuelist type="QVariantList">
+   <value type="QString">trolltech.qt4projectmanager.qmake</value>
+   <value type="QString">trolltech.qt4projectmanager.make</value>
+  </valuelist>
+ </data>
+ <data>
+  <variable>cleanstep0</variable>
+  <valuemap type="QVariantMap">
+   <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString"></value>
+   <value key="clean" type="bool">true</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>cleansteps</variable>
+  <valuelist type="QVariantList">
+   <value type="QString">trolltech.qt4projectmanager.make</value>
+  </valuelist>
+ </data>
+ <data>
+  <variable>defaultFileEncoding</variable>
+  <value type="QByteArray">System</value>
+ </data>
+ <data>
+  <variable>project</variable>
+  <valuemap type="QVariantMap"/>
+ </data>
+</qtcreator>

=== added file 'software/FabInterpreter/Path_Tester/jrkerr.pro'
--- software/FabInterpreter/Path_Tester/jrkerr.pro	1970-01-01 00:00:00 +0000
+++ software/FabInterpreter/Path_Tester/jrkerr.pro	2010-08-07 00:08:43 +0000
@@ -0,0 +1,18 @@
+DEPENDPATH += ../../Common/JrKerr
+INCLUDEPATH += ../../Common/JrKerr/src
+QMAKE_LIBDIR += ../../Common/JrKerr/src/build
+
+HEADERS += ../../Common/JrKerr/nmccom.h \
+    ../../Common/JrKerr/picio.h \
+    ../../Common/JrKerr/picservo.h\
+    ../../Common/JrKerr/picstep.h \
+    ../../Common/JrKerr/path.h
+
+SOURCES += ../../Common/JrKerr/nmccom.cpp \
+    ../../Common/JrKerr/picio.cpp \
+    ../../Common/JrKerr/picservo.cpp\
+    ../../Common/JrKerr/picstep.cpp \
+    ../../Common/JrKerr/path.cpp
+
+CONFIG(debug, debug|release):LIBS += -lqextserialportd
+else:LIBS += -lqextserialport

=== added file 'software/FabInterpreter/Path_Tester/main.cpp'
--- software/FabInterpreter/Path_Tester/main.cpp	1970-01-01 00:00:00 +0000
+++ software/FabInterpreter/Path_Tester/main.cpp	2010-08-07 00:08:43 +0000
@@ -0,0 +1,177 @@
+#include <QtCore/QCoreApplication>
+#include "path.h"
+#include "picservo.h"
+#include "nmccom.h"
+#include <unistd.h>
+#include <qdebug.h>
+
+void initialize();
+void execute();
+void ExecutePath();
+void ReportError(int);
+
+void initialize()
+{
+    qDebug() << "Please turn on Servo Controller Power";
+
+    int nummod = NmcInit("/dev/tty.usbserial-A9003UF2", 19200);  //Controllers on COM1, use 115200 baud
+
+    if (nummod < 2)
+      {
+      qDebug() << "2 servos not found";
+      qDebug() << "exiting...";
+      }
+
+    //Set the group address for both controllers to 128
+    NmcSetGroupAddr(1, 128, true);    //x axis is the group leader
+    NmcSetGroupAddr(2, 128, false);   //y axis is a group member
+
+    ServoSetGain(2,        //Axis = 2
+                             100,      //Kp = 100
+                 1000,     //Kd = 1000
+                 0,        //Ki = 0
+                 0,        //IL = 0
+                 255,      //OL = 255
+                 0,        //CL = 0
+                 2000,     //EL = 2000
+                 1,        //SR = 1
+                 0);       //DC = 0;
+
+    //Initialize the servos
+    ServoStopMotor(1, AMP_ENABLE | STOP_ABRUPT | ADV_FEATURE);
+    ServoStopMotor(2, AMP_ENABLE | STOP_ABRUPT | ADV_FEATURE);
+
+    //Reset the current motor positions to zero
+    ServoResetPos(1);
+    ServoResetPos(2);
+
+    //Set the required status items for the path control module
+    NmcDefineStatus(1, SEND_POS | SEND_NPOINTS | SEND_PERROR | SEND_AUX);
+    NmcDefineStatus(2, SEND_POS | SEND_NPOINTS | SEND_PERROR | SEND_AUX);
+
+    ServoSetIoCtrl(1, THREE_PHASE);
+    ServoSetIoCtrl(2, THREE_PHASE);
+
+    //Initialize path control module parameters
+    SetPathParams2(P_30HZ,   //path frequency = 30 Hz
+                               10,       //Store a minimum of 45 points in the path point buffer
+                   1,        //X axis is module address 1
+                   2,        //Y axis is module address 2
+                   0,        //Z axis not used = set address to 0
+                   128,		//group address = 128
+                   1,		//x axis is group leader
+                   20000.0,  //X scale - 20000.0 counts per inch
+                   20000.0,  //Y scale - 20000.0 counts per inch
+                   1.0,      //Z scale - 1.0 counts per inch - not used
+                   1.0);     //acceleration = 1.0 inch/second/second
+
+    SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
+    SetFeedrate(1.0);         //feedrate = 1.0 inches/second
+    SetTangentTolerance(10.0);  //continuous path tangent tolerence = 10 degrees
+
+}
+void ExecutePath()
+{
+    //
+    //Initialize the path just before execution
+    //
+    InitPath();
+
+    //
+    //Download path points to the PIC-SERVO CMC modules until all points are
+    //  downloaded.  Motion will begin automatically when the minimum number
+    //  of path points have been loaded.
+    //
+    while ( AddPathPoints() != -1 ) ;
+
+    //
+    //Poll the X axis module to detect when the path is complete
+    //
+    do
+    {
+        NmcNoOp(1);   //retrieve current status data
+    }
+    while ( ServoGetAux(1) & PATH_MODE );   //poll while still in path mode
+}
+
+void execute()
+{
+    //
+    //Clear the segment list and initialize the starting point for the path
+    //
+    ClearSegList(0.0, 0.0, 0.0);    //Clear the segment list and set the
+    //  starting point for the path
+    //  at X = 0, Y = 1, Z = 0
+
+    //
+    //Add line and arc segments to the path module's segment list for first move
+    //
+    int res = AddLineSeg(0.0, 2.0, 0.0);    //Add a segment to move to x=0, y=2, z=0
+    if (res<0) ReportError(res);
+
+    res = AddArcSeg( 1.0, 3.0, 0.0,     //end point of arc: x=1, y=3, z=0
+                     1.0, 2.0, 0.0,     //center point of arc: x=1, y=2, z = 0
+                     0.0, 0.0, -1.0 );   //normal vector to arc plane: x = 0, y = 0, z = -1
+    if (res<0) ReportError(res);
+
+    res = AddLineSeg(4.0, 3.0, 0.0);    //line segment endpoint: x=4, y=3, z=0
+    if (res<0) ReportError(res);
+
+
+    res = AddArcSeg( 5.0, 2.0, 0.0,     //end point of arc: x=5, y=2, z=0
+                     4.0, 2.0, 0.0,     //center point of arc: x=4, y=2, z = 0
+                     0.0, 0.0, -1.0 );   //normal vector to arc plane: x = 0, y = 0, z = -1
+    if (res<0) ReportError(res);
+
+    res = AddLineSeg(5.0, 0.0, 0.0);    //line segment endpoint: x=5, y=0, z=0
+    if (res<0) ReportError(res);
+
+    //
+    //Run path and wait for completion
+    //
+    ExecutePath();
+
+    //
+    //Clear the segment list and initialize the starting point for the second path
+    //back to the origin
+    //
+    ClearSegList(5.0, 0.0, 0.0);    //Clear the segment list and set the
+    //  starting point for the path
+    //  at X = 5, Y = 0, Z = 0
+
+    //
+    //Add line segment to move back to the origin
+    //
+    res = AddLineSeg(0.0, 0.0, 0.0);    //Add a segment to move to x=0, y=0, z=0
+    if (res<0) ReportError(res);
+
+    ExecutePath();  //Runs path and waits for completion
+}
+
+void ReportError(int errnum)
+{
+    switch (errnum)
+    {
+    case -1: qDebug() << "Segment added is not tangent to the previous segment";
+        break;
+    case -2: qDebug() << "Too many segments in the segment list";
+        break;
+    case -3: qDebug() << "Values given do not define a correct arc";
+        break;
+    }
+    qDebug() << "Exit now";
+}
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+
+    initialize();
+
+    sleep(1);
+
+    execute();
+
+
+    return a.exec();
+}

=== modified file 'software/FabInterpreter/Util.h'
--- software/FabInterpreter/Util.h	2010-07-22 15:32:37 +0000
+++ software/FabInterpreter/Util.h	2010-08-07 00:08:43 +0000
@@ -12,7 +12,7 @@
 #include <time.h>
 #include <algorithm>
 #include <QMessageBox>
-#include "../Common/tinyxml/tinyxml.h"
+#include "tinyxml.h"
 using namespace std;
 
 
@@ -109,12 +109,7 @@
 
           public: static void messageBox(const string& message)
           {
-                  /*
-                  QMessageBox:;
-               QString str(message.c_str());
-               msgBox.setText(str);
-               msgBox.exec();
-               */
+               QMessageBox::warning(0, "", message.c_str());
                printf(message.c_str());
                printf("\n");
           }

=== modified file 'software/FabInterpreter/guicomponentsthread.cpp'
--- software/FabInterpreter/guicomponentsthread.cpp	2010-07-22 15:32:37 +0000
+++ software/FabInterpreter/guicomponentsthread.cpp	2010-08-07 00:08:43 +0000
@@ -1,24 +1,27 @@
 #include "guicomponentsthread.h"
 
-GUIComponentsThread::GUIComponentsThread()
+
+GUIComponentsThread::GUIComponentsThread(QObject* parent) : QThread(parent)
 {
 }
 
-GUIComponentsThread::GUIComponentsThread(FabAtHomePrinter* newPrinter) : printer(newPrinter) {}
-
-long posDisplayPeriod = 1; //Number of seconds between position updates in user interface.
+int posDisplayPeriod = 1; //Number of seconds between position updates in user interface.
 bool enablePosDisplay;
 
+GUIComponentsThread::~GUIComponentsThread()
+{
+}
+
+
 void GUIComponentsThread::run()
 {
-    int c = 0;
     //updates position display
     while (enablePosDisplay)
     {
-        c = (c == 0 ? 1 : 0);
-        printer->GUI_reportProgress();
-        sleep(posDisplayPeriod * 1000);
+        reportProgress();
+        sleep(posDisplayPeriod);
     }
+    finished();
 }
 
 void GUIComponentsThread::enablePositionDisplay()
@@ -31,3 +34,8 @@
 {
     enablePosDisplay = false;
 }
+
+bool GUIComponentsThread::isEnabled()
+{
+    return enablePosDisplay;
+}

=== modified file 'software/FabInterpreter/guicomponentsthread.h'
--- software/FabInterpreter/guicomponentsthread.h	2010-07-22 15:32:37 +0000
+++ software/FabInterpreter/guicomponentsthread.h	2010-08-07 00:08:43 +0000
@@ -1,28 +1,35 @@
 #ifndef GUICOMPONENTSTHREAD_H
 #define GUICOMPONENTSTHREAD_H
 
-#include <QThread>
+#include <qthread.h>
 #include "FabAtHomePrinter.h"
 
+
 class GUIComponentsThread : public QThread
-{
-
-public:
-    GUIComponentsThread();
-
-    GUIComponentsThread(FabAtHomePrinter* newPrinter);
-
-    void enablePositionDisplay();
-
-    void disablePositionDisplay();
-
-    void run();
-
-private:
-
-    FabAtHomePrinter* printer;
-
-};
-
+    {
+
+        Q_OBJECT
+
+    public:
+        GUIComponentsThread(QObject* parent = 0);
+
+        ~GUIComponentsThread();
+
+        void enablePositionDisplay();
+
+        void run();
+
+        bool isEnabled();
+
+    public slots:
+
+        void disablePositionDisplay();
+
+    signals:
+
+        void reportProgress();
+        void finished();
+
+    };
 
 #endif // GUICOMPONENTSTHREAD_H

=== modified file 'software/FabInterpreter/mainwindow.cpp'
--- software/FabInterpreter/mainwindow.cpp	2010-07-23 20:12:14 +0000
+++ software/FabInterpreter/mainwindow.cpp	2010-08-07 00:08:43 +0000
@@ -4,6 +4,7 @@
 MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent)
 {
     setupUi(this);
+    initialized = false;
     this->connectFunctions();
 }
 
@@ -15,7 +16,6 @@
 void MainWindow::connectFunctions()
 {
     connect(LoadConfigButton, SIGNAL(clicked()), this, SLOT(loadConfig()));
-    connect(MoveButton, SIGNAL(clicked()), this, SLOT(move()));
     connect(ResetPosButton, SIGNAL(clicked()), this, SLOT(resetValues()));
     connect(LoadModelButton, SIGNAL(clicked()), this, SLOT(loadModel()));
     connect(this, SIGNAL(destroyed()), this, SLOT(closeProgram()));
@@ -25,68 +25,73 @@
     connect(bayCommandedPosition0, SIGNAL(editingFinished()), this, SLOT(bayCommandedPosition0_valueChanged()));
     connect(bayCommandedPosition1, SIGNAL(editingFinished()), this, SLOT(bayCommandedPosition1_valueChanged()));
     connect(bayCommandedPosition2, SIGNAL(editingFinished()), this, SLOT(bayCommandedPosition2_valueChanged()));
-    connect( bayMaterialCalibration0, SIGNAL(currentIndexChanged(int)), this, SLOT( bayMaterialCalibration0_SelectedIndexChanged(int) ) );
-    connect( bayMaterialCalibration1, SIGNAL(currentIndexChanged(int)), this, SLOT( bayMaterialCalibration1_SelectedIndexChanged(int) ) );
-    connect( bayMaterialCalibration2, SIGNAL(currentIndexChanged(int)), this, SLOT( bayMaterialCalibration2_SelectedIndexChanged(int) ) );
+    connect(bayMaterialCalibration0, SIGNAL(currentIndexChanged(int)), this, SLOT(bayMaterialCalibration0_SelectedIndexChanged(int) ) );
+    connect(bayMaterialCalibration1, SIGNAL(currentIndexChanged(int)), this, SLOT(bayMaterialCalibration1_SelectedIndexChanged(int) ) );
+    connect(bayMaterialCalibration2, SIGNAL(currentIndexChanged(int)), this, SLOT(bayMaterialCalibration2_SelectedIndexChanged(int) ) );
     connect(ExecuteButton, SIGNAL(clicked()), this, SLOT(print()));
-    initializePrinter();
+    connect(LoadModelButton, SIGNAL(clicked()), this, SLOT(resetProgressBar()));
+    connect(PauseFabButton, SIGNAL(clicked()), this, SLOT(pausePrintHandler()));
     //add move changes
-    //connect(XCommandedField, SIGNAL())
-    //connect(printer, SIGNAL(progressChanged()), printThread, SLOT(update()))
-
-
-    //connect(XCommandedField, SIGNAL(valueChanged(double), printer, SLOT()
-    //TO_DO: add signal/slots for position boxes
+
 }
 
 void MainWindow::initializePrinter()
 {
+    //NOTE: for every connect added here you must add a disconnect to the slot
     printer = new FabAtHomePrinter();
     pThread = new PrintThread(printer);
-    gcThread = new GUIComponentsThread(printer);
+    gcThread = new GUIComponentsThread();
     connect(PauseFabButton, SIGNAL(clicked()), printer, SLOT(pausePrint()));
     connect(CancelFabButton, SIGNAL(clicked()), printer, SLOT(cancelPrint()));
     connect(RedoPathButton, SIGNAL(clicked()), printer, SLOT(redoPath()));
     connect(ForceStopButton, SIGNAL(clicked()), printer, SLOT(stopMotors()));
     connect(ResetPosButton, SIGNAL(clicked()), printer, SLOT(resetPos()));
     connect(printer, SIGNAL(reportProgress(int, QString)), this, SLOT(printer_reportProgress(int, QString)));
-    connect(printer, SIGNAL(GUI_reportProgress()), this, SLOT(GUI_reportProgress()));
+    connect(gcThread, SIGNAL(reportProgress()), this, SLOT(GUI_reportProgress()));
+    connect(gcThread, SIGNAL(finished()), this, SLOT(GUI_disabled()));
     connect(printer, SIGNAL(callWarning(QString)), this, SLOT(callWarning(QString)));
+    connect(printer, SIGNAL(finishedPrinting()), this, SLOT(resetValues()));
+    connect(DeletePrinterConfig, SIGNAL(clicked()), gcThread, SLOT(disablePositionDisplay()));
 }
 
-void MainWindow::reconnectPrinterFunctions()
+void MainWindow::disconnectPrinterFunctions()
 {
-    disconnect(PauseFabButton, SIGNAL(clicked()), printer, SLOT(pausePrint()));
-    disconnect(CancelFabButton, SIGNAL(clicked()), printer, SLOT(cancelPrint()));
-    disconnect(RedoPathButton, SIGNAL(clicked()), printer, SLOT(redoPath()));
-    disconnect(ForceStopButton, SIGNAL(clicked()), printer, SLOT(stopMotors()));
-    disconnect(ResetPosButton, SIGNAL(clicked()), printer, SLOT(resetPos()));
-    disconnect(printer, SIGNAL(GUI_reportProgress()), this, SLOT(GUI_reportProgress()));
-    disconnect(printer, SIGNAL(reportProgress(int, QString)), this, SLOT(printer_reportProgress(int, QString)));
+    disconnect(printer, 0, 0, 0);
+    disconnect(gcThread, 0, 0, 0);
+    disconnect(printer, SLOT(cancelPrint()));
+    disconnect(printer, SLOT(deleteLater()));
+    disconnect(printer, SLOT(pausePrint()));
+    disconnect(printer, SLOT(redoPath()));
+    disconnect(printer, SLOT(resetPos()));
+    disconnect(printer, SLOT(stopMotors()));
+    disconnect(gcThread, SLOT(disablePositionDisplay()));
+    if (gcThread != NULL)
+    {
+        gcThread->disablePositionDisplay();
+        while (gcThread->isRunning());
+        delete gcThread;
+    }
+    if (pThread != NULL)
+    {
+        delete pThread;
+    }
     if (printer != NULL)
     {
-        printer->cancelPrint();
-        while (!printer->cleanUp());
-        //if (printer->isInitialized())
-            //printer->reset();
+        previousPrinter = printer;
+        if (printer->isInitialized())
+            while (!printer->cleanUp());
         delete printer;
     }
-    if (pThread != NULL)
-    {
-        delete pThread;
-    }
-    if (gcThread != NULL)
-    {
-        delete gcThread;
-    }
-    initializePrinter();
 }
 
 void MainWindow::loadConfig()
 {
     //Open file dialog
-    reconnectPrinterFunctions();
-    QString str = QFileDialog::getOpenFileName(this,"Config File Loader", "../../media/Printer Configs/", "*.config");
+    QString str = QFileDialog::getOpenFileName(this,"Config File Loader", "/Users/jcman912/Documents/Fab@Home/Interpreter_Experimental/software", "*.config");
+
+    if (!initialized)
+        initialized = true;
+    initializePrinter();
     string result = printer->initialize(str.toStdString(), PortName->text().toStdString());
     if(result.compare("") == 0)
     {
@@ -109,6 +114,12 @@
         XCommandedField->setValue(0);
         YCommandedField->setValue(0);
         ZCommandedField->setValue(0);
+        XCommandedField->setSingleStep(XIncrementField->text().toDouble());
+        YCommandedField->setSingleStep(YIncrementField->text().toDouble());
+        ZCommandedField->setSingleStep(ZIncrementField->text().toDouble());
+        bayCommandedPosition0->setSingleStep(bayIncrementField0->text().toDouble());
+        bayCommandedPosition1->setSingleStep(bayIncrementField1->text().toDouble());
+        bayCommandedPosition2->setSingleStep(bayIncrementField2->text().toDouble());
         int numLoadedBays = printer->numLoadedBays();
         if(numLoadedBays >= 1)
         {
@@ -135,22 +146,17 @@
 
         //FabAtHomePrinter::savePreviousConfigName(filePath);
 
-
-        //Modify buttons.
-
-        //LoadConfigButton->setEnabled(false);
-
-        //LoadModelButton->focusWidget();
-        //LoadModelButton->Focus();
-
         //Start live position display
+        LoadConfigButton->setEnabled(false);
         gcThread->enablePositionDisplay();
     }
     else
     {
+        disconnectPrinterFunctions();
         callWarning(result.c_str());
     }
 
+    previousPrinter = printer;
 
 }
 
@@ -163,7 +169,7 @@
     int numLoadedBays = printer->numLoadedBays();
     if(numLoadedBays >= 1)
     {
-        bayCommandedPosition0->setValue(0.00000);
+        bayCommandedPosition0->setValue(0.000000);
     }
     if(numLoadedBays >= 2)
     {
@@ -236,11 +242,6 @@
     }
 }
 
-void MainWindow::disablePositionDisplay()
-{
-    enablePosDisplay = false;
-}
-
 void MainWindow::toggleAxes(bool enabled)
 {
     XVelocityField->setEnabled(enabled);
@@ -269,7 +270,7 @@
     {
         bayVelocity0->setEnabled(enabled);
         bayAcceleration0->setEnabled(enabled);
-        bayPositionIncrement0->setEnabled(enabled);
+        bayIncrementField0->setEnabled(enabled);
         bayMotorPosition0->setEnabled(enabled);
         bayCommandedPosition0->setEnabled(enabled);
         bayMaterialCalibration0->setEnabled(enabled);
@@ -280,7 +281,7 @@
     {
         bayVelocity1->setEnabled(enabled);
         bayAcceleration1->setEnabled(enabled);
-        bayPositionIncrement1->setEnabled(enabled);
+        bayIncrementField1->setEnabled(enabled);
         bayMotorPosition1->setEnabled(enabled);
         bayCommandedPosition1->setEnabled(enabled);
         bayMaterialCalibration1->setEnabled(enabled);
@@ -291,7 +292,7 @@
     {
         bayVelocity2->setEnabled(enabled);
         bayAcceleration2->setEnabled(enabled);
-        bayPositionIncrement2->setEnabled(enabled);
+        bayIncrementField2->setEnabled(enabled);
         bayMotorPosition2->setEnabled(enabled);
         bayCommandedPosition2->setEnabled(enabled);
         bayMaterialCalibration2->setEnabled(enabled);
@@ -312,6 +313,7 @@
     if(numLoadedBays >= 1)
     {
         temp = Util::toString<double>(printer->tool.bays["Bay 0"].motor->getPosition());
+        bayMotorPosition0->setText(temp.c_str());
     }
     if(numLoadedBays >= 2)
     {
@@ -337,8 +339,6 @@
     PathProgressBar->update();
 }
 
-//TODO: implement this
-
 void MainWindow::GUI_reportProgress()
 {
     static string prevState;
@@ -356,11 +356,11 @@
             ZCommandedField->setValue(ZDisplay->text().toDouble());
             bayCommandedPosition0->setValue(bayMotorPosition0->text().toDouble());
             bayCommandedPosition1->setValue(bayMotorPosition1->text().toDouble());
+            bayCommandedPosition2->setValue(bayMotorPosition2->text().toDouble());
         }
         toggleBays(true);
         toggleAxes(false);
         ResetPosButton->setEnabled(false);
-        MoveButton->setEnabled(false);
         LoadModelButton->setEnabled(false);
         ExecuteButton->setEnabled(false);
         PauseFabButton->setEnabled(true);
@@ -373,9 +373,9 @@
         toggleBays(false);
         toggleAxes(false);
         ResetPosButton->setEnabled(false);
-        MoveButton->setEnabled(false);
         LoadModelButton->setEnabled(false);
         ExecuteButton->setEnabled(false);
+        DeletePrinterConfig->setEnabled(false);
         PauseFabButton->setEnabled(true);
         CancelFabButton->setEnabled(true);
         ForceStopButton->setEnabled(true);
@@ -391,12 +391,13 @@
             XCommandedField->setValue(XDisplay->text().toDouble());
             bayCommandedPosition0->setValue(bayMotorPosition0->text().toDouble());
             bayCommandedPosition1->setValue(bayMotorPosition1->text().toDouble());
+            bayCommandedPosition2->setValue(bayMotorPosition2->text().toDouble());
         }
         toggleBays(true);
         toggleAxes(true);
         ResetPosButton->setEnabled(true);
-        MoveButton->setEnabled(true);
         LoadModelButton->setEnabled(true);
+        DeletePrinterConfig->setEnabled(true);
         PauseFabButton->setEnabled(false);
         CancelFabButton->setEnabled(false);
         ForceStopButton->setEnabled(false);
@@ -406,6 +407,34 @@
 }
 
 
+void MainWindow::GUI_disabled()
+{
+    toggleBays(false);
+    toggleAxes(false);
+    ResetPosButton->setEnabled(false);
+    LoadModelButton->setEnabled(false);
+    ExecuteButton->setEnabled(false);
+    DeletePrinterConfig->setEnabled(false);
+    PauseFabButton->setEnabled(false);
+    CancelFabButton->setEnabled(false);
+    ForceStopButton->setEnabled(false);
+    RedoPathButton->setEnabled(false);
+    LoadConfigButton->setEnabled(true);
+    XLabel->setText("Not Loaded");
+    YLabel->setText("Not Loaded");
+    ZLabel->setText("Not Loaded");
+    bayLabel0->setText("Not Loaded");
+    bayLabel1->setText("Not Loaded");
+    bayLabel2->setText("Not Loaded");
+    resetValues();
+    if (printer->isInitialized())
+        printer->resetPos();
+    bayMaterialCalibration0->clear();
+    bayMaterialCalibration1->clear();
+    bayMaterialCalibration2->clear();
+    disconnectPrinterFunctions();
+}
+
 void MainWindow::print()
 {
 
@@ -416,65 +445,70 @@
 
 void MainWindow::bayMaterialCalibration1_SelectedIndexChanged(int i)
 {
-    string materialCalibrationName = bayMaterialCalibration1->currentText().toStdString();
-    string bayName = bayLabel1->text().toStdString();
-    printer->equipBay(bayName, materialCalibrationName);
+    if (bayMaterialCalibration1->isEnabled())
+    {
+        string materialCalibrationName = bayMaterialCalibration1->currentText().toStdString();
+        string bayName = bayLabel1->text().toStdString();
+        printer->equipBay(bayName, materialCalibrationName);
+    }
 }
 void MainWindow::bayMaterialCalibration2_SelectedIndexChanged(int i) {
-    string materialCalibrationName = bayMaterialCalibration2->currentText().toStdString();
-    string bayName = bayLabel2->text().toStdString();
-    printer->equipBay(bayName, materialCalibrationName);
+    if (bayMaterialCalibration2->isEnabled())
+    {
+        string materialCalibrationName = bayMaterialCalibration2->currentText().toStdString();
+        string bayName = bayLabel2->text().toStdString();
+        printer->equipBay(bayName, materialCalibrationName);
+    }
 }
 
 void MainWindow::bayMaterialCalibration0_SelectedIndexChanged(int i)
 {
-    string materialCalibrationName = bayMaterialCalibration0->currentText().toStdString();
-    string bayName = bayLabel0->text().toStdString();
-    printer->equipBay(bayName, materialCalibrationName);
+    if (bayMaterialCalibration0->isEnabled())
+    {
+        string materialCalibrationName = bayMaterialCalibration0->currentText().toStdString();
+        string bayName = bayLabel0->text().toStdString();
+        printer->equipBay(bayName, materialCalibrationName);
+    }
 }
 
 void MainWindow::closeProgram()
 {
     gcThread->disablePositionDisplay();
-    printer->cleanUp();
-    delete pThread;
-    delete gcThread;
-    delete printer;
 }
 
 void MainWindow::XCommandedField_valueChanged()
 {
-    if (printer->isInitialized())
+    if (printer->isInitialized() && printer->state().compare("PRINTING") != 0)
         printer->axes["X"].motor->moveAbsolute(XCommandedField->value(), XVelocityField->text().toDouble(), XAccelerationField->text().toDouble());
 }
 
 void MainWindow::YCommandedField_valueChanged()
 {
-    if (printer->isInitialized())
+    if (printer->isInitialized() && printer->state().compare("PRINTING") != 0)
         printer->axes["Y"].motor->moveAbsolute(YCommandedField->value(), YVelocityField->text().toDouble(), YAccelerationField->text().toDouble());
 }
 
 void MainWindow::ZCommandedField_valueChanged()
 {
-    if (printer->isInitialized())
+    if (printer->isInitialized() && printer->state().compare("PRINTING") != 0)
         printer->axes["Z"].motor->moveAbsolute(ZCommandedField->value(), ZVelocityField->text().toDouble(), ZAccelerationField->text().toDouble());
 }
 
 void MainWindow::bayCommandedPosition0_valueChanged()
 {
-    if (printer->isInitialized())
+    if (printer->isInitialized() && printer->state().compare("PRINTING") != 0)
         printer->tool.bays["Bay 0"].motor->moveAbsolute(bayCommandedPosition0->value(), bayVelocity0->text().toDouble(), bayAcceleration0->text().toDouble());
 }
 
 void MainWindow::bayCommandedPosition1_valueChanged()
 {
-    if (printer->isInitialized())
+    if (printer->isInitialized() && printer->state().compare("PRINTING") != 0)
         printer->tool.bays["Bay 1"].motor->moveAbsolute(bayCommandedPosition1->value(), bayVelocity1->text().toDouble(), bayAcceleration1->text().toDouble());
 }
 
 void MainWindow::bayCommandedPosition2_valueChanged()
 {
-    if (printer->isInitialized())
+    if (printer->isInitialized() && printer->state().compare("PRINTING") != 0)
         printer->tool.bays["Bay 2"].motor->moveAbsolute(bayCommandedPosition2->value(), bayVelocity2->text().toDouble(), bayAcceleration2->text().toDouble());
 }
 
@@ -482,3 +516,32 @@
 {
     QMessageBox::warning(this, "Warning", msg);
 }
+
+void MainWindow::resetProgressBar()
+{
+    PathProgressBar->setValue(0);
+}
+
+void MainWindow::closeEvent(QCloseEvent *event)
+{
+    if (!initialized || !printer->isInitialized())
+        event->accept();
+    else if (printer->state().compare("PRINTING") == 0)
+    {
+        callWarning("Cannot close during a print job.");
+        event->ignore();
+    }
+    else
+    {
+        closeProgram();
+        event->accept();
+    }
+}
+
+void MainWindow::pausePrintHandler()
+{
+    if (printer->state().compare("PRINTING") == 0)
+        PauseFabButton->setText("Resume");
+    else
+        PauseFabButton->setText("Pause");
+}

=== modified file 'software/FabInterpreter/mainwindow.h'
--- software/FabInterpreter/mainwindow.h	2010-07-22 15:32:37 +0000
+++ software/FabInterpreter/mainwindow.h	2010-08-07 00:08:43 +0000
@@ -11,7 +11,8 @@
 #include "guicomponentsthread.h"
 #include <vector>
 #include <QFileDialog>
-
+#include <QMessageBox>
+#include <QCloseEvent>
 
 
 namespace Ui
@@ -19,8 +20,6 @@
     class MainWindow;
 }
 
-
-
 class MainWindow :
         public QMainWindow, public Ui::MainWindow
 {
@@ -31,17 +30,16 @@
     ~MainWindow();
     
 private:
+
     bool initialized;
     FabAtHomePrinter* printer; //The printer.
     FabAtHomePrinter* previousPrinter;
     GUIComponentsThread *gcThread;
     PrintThread *pThread;
-    void disablePositionDisplay();
     void toggleAxes(bool);
     void toggleBays(bool);
     void updatePosDisplay();
     void connectFunctions();
-    void reconnectPrinterFunctions();
     void initializePrinter();
 
     //variables for controller
@@ -56,12 +54,12 @@
     //timer variables
     int numTicks;
     //TODO: initialize above in constructor
-
-public slots:
+    
+private slots:
+    void disconnectPrinterFunctions();
     void printer_reportProgress(int, QString);
     void GUI_reportProgress();
-    
-private slots:
+    void GUI_disabled();
     void loadConfig();
     void loadModel();
     void resetValues();
@@ -78,6 +76,11 @@
     void bayCommandedPosition1_valueChanged();
     void bayCommandedPosition2_valueChanged();
     void callWarning(QString);
+    void resetProgressBar();
+    void pausePrintHandler();
+
+protected:
+    void closeEvent(QCloseEvent *event);
 };
 
 #endif // MAINWINDOW_H

=== modified file 'software/FabInterpreter/mainwindow.ui'
--- software/FabInterpreter/mainwindow.ui	2010-07-23 20:12:14 +0000
+++ software/FabInterpreter/mainwindow.ui	2010-08-07 00:08:43 +0000
@@ -6,12 +6,24 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>910</width>
-    <height>461</height>
+    <width>932</width>
+    <height>467</height>
    </rect>
   </property>
   <property name="windowTitle">
-   <string>FAB@Home Interpreter</string>
+   <string>Fab@Home Interpreter</string>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <property name="animated">
+   <bool>true</bool>
+  </property>
+  <property name="dockNestingEnabled">
+   <bool>false</bool>
+  </property>
+  <property name="unifiedTitleAndToolBarOnMac">
+   <bool>false</bool>
   </property>
   <widget class="QWidget" name="centralWidget">
    <widget class="QGroupBox" name="gridGroupBox">
@@ -19,10 +31,16 @@
      <rect>