Pokeys

while(dev == NULL)dev = PK_ConnectToDeviceWSerial(12345, 5000);  //waits for usb device
to
while(dev == NULL)dev = PK_ConnectToDeviceWSerial_UDP(12345, 5000);  //waits for usb device

diff --git a/PoKeysLibCoreSockets.c b/PoKeysLibCoreSockets.c
index 61f68fd..f6561eb 100644
--- a/PoKeysLibCoreSockets.c
+++ b/PoKeysLibCoreSockets.c
@@ -287,7 +287,7 @@ int32_t PK_SearchNetworkDevices(sPoKeysNetworkDeviceSummary * devices, uint32_t
         // Send discovery request...
         remoteEP.sin_family = AF_INET;
         remoteEP.sin_port = htons(20055);
-        remoteEP.sin_addr.s_addr = a; // inet_addr("255.255.255.255");
+        remoteEP.sin_addr.s_addr = inet_addr("255.255.255.255");
 
         if (sendto(txSocket, SendBuf, BufLen, 0, (SOCKADDR *)&remoteEP, sizeof(remoteEP)) == -1)
         {

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb

   int32_t         CurrentPosition[8];        // Current position
    int32_t         PositionSetup[8];          // Position to be set as current position
    int32_t         ReferencePositionSpeed[8]; // Reference position or speed (position or pulses/s)
    int8_t          InvertAxisEnable[8];       // Invert axis enable signal
    int32_t         SoftLimitMaximum[8];       // Soft limit maximum position
    int32_t         SoftLimitMinimum[8];       // Soft limit minimum position
    uint8_t         HomingSpeed[8];            // Homing speed per axis (in %)
    uint8_t         HomingReturnSpeed[8];      // Homing return speed per axis (in % of the homing speed)
    int32_t         HomeOffsets[8];            // Home position offset
    uint8_t            HomingAlgorithm[8];           // Homing algorithm configuration
    uint8_t            FilterLimitMSwitch[8];       // Digital filter for limit- switch
    uint8_t            FilterLimitPSwitch[8];       // Digital filter for limit+ switch
    uint8_t            FilterHomeSwitch[8];       // Digital filter for home switch
    int32_t         ProbePosition[8];          // Position where probe detected change
    int32_t         ProbeMaxPosition[8];       // Maximum position to travel to until stopping and returning error
    float           MaxSpeed[8];               // Maximum axis speed (in pulses per ms)
    float           MaxAcceleration[8];        // Maximum axis acceleration (in pulses/ms/ms)
    float           MaxDecceleration[8];       // Maximum axis deceleration (in pulses/ms/ms)
    int32_t         MPGjogMultiplier[8];       // MPG jog multiplier value
    uint8_t         MPGjogEncoder[8];          // MPG jog encoder ID
    uint8_t         PinHomeSwitch[8];          // Home switch pin (0 for external dedicated input)
    uint8_t         PinLimitMSwitch[8];        // Limit- switch pin (0 for external dedicated input)
    uint8_t         PinLimitPSwitch[8];        // Limit+ switch pin (0 for external dedicated input)
    uint8_t         AxisEnableOutputPins[8];   // Axis enabled output pin (0 for external dedicated output)
    uint32_t        HomeBackOffDistance[8];       // Back-off distance after homing
    uint16_t        MPGjogDivider[8];          // Divider for the MPG jogging (enhanced encoder resolution)
    uint8_t         reserved[8];               // Motion buffer entries - moved further down...
    uint8_t         ReservedSafety[8];
    uint8_t         PulseEngineEnabled;        // Pulse engine enabled status, also number of enabled axes
    uint8_t         PulseGeneratorType;        // Pulse engine generator type (0: external, 1: internal 3ch)
    uint8_t         AxisEnabledStatesMask;     // Bit-mapped states, where axis enabled and charge pump signals are active
    uint8_t         PulseEngineStateSetup;     // Pulse engine new state configuration
    uint8_t         PulseEngineBufferSize;     // Buffer size information...
    uint8_t         motionBufferEntriesAccepted;
    uint8_t         newMotionBufferEntries;
    uint8_t         HomingStartMaskSetup;      // Bit-mapped axes indexes to be homed
    uint8_t         ProbeStartMaskSetup;       // Bit-mapped axis indexes for probing
       float           ProbeSpeed;                // Probe speed (ratio of the maximum speed)
   uint16_t        BacklashWidth[8];            // half of real backlash width
    int16_t            BacklashRegister[8];        // current value of the backlash register
    uint8_t            BacklashAcceleration[8];    // in pulses per ms^2
    uint8_t            BacklashCompensationEnabled;
    uint8_t            reserved_back[3];