Index: trunk/MagicSoft/Cosy/devdrv/macs.cc
===================================================================
--- trunk/MagicSoft/Cosy/devdrv/macs.cc	(revision 1959)
+++ trunk/MagicSoft/Cosy/devdrv/macs.cc	(revision 2019)
@@ -153,5 +153,5 @@
         case 1:
             //lout << ddev(MLog::eGui);
-            lout << "- " << GetNodeName() << ": Decceleration set." << endl;
+            lout << "- " << GetNodeName() << ": Deceleration set." << endl;
             //lout << edev(MLog::eGui);
             return;
@@ -278,4 +278,6 @@
     SetNoWait(TRUE);
 
+//    StartGuarding(200, 2, kFALSE); // Using PDO1 @ 100ms
+
 //    StartGuarding(250, 4);
 //    StartHostGuarding();
@@ -448,4 +450,10 @@
 void Macs::HandlePDO1(BYTE_t *data, timeval_t *tv)
 {
+    // FIXME!!!!
+    HandleNodeguard(tv);
+/*
+    Timer t(tv);
+    cout << GetNodeName()<< " " <<t.GetTimeStr() << endl;
+*/
     fPdoPos    = (data[4]<<24) | (data[5]<<16) | (data[6]<<8) | data[7];