A kb mirror is controlled typically by two rotation motors. 
  One, main rotation, is located at the middle of the mirror
  while a second one is set in an eccentric point. The
  combination of both allows to drive the mirror (the center
  of it) to a certain 'tilt' angle and 'height' (for vertically
  positioned mirrors, but we will use the 'height' term for 
  all mirrors). 

  This macro set supports both pseudo motor style definition
  or macro motors directly in spec.

  Rotation angles are in milli-radians, distance in millimeters

  For pseudo motors:
  ------------------
     Define tilt and height motors as controller NONE in spec config

     In setup, for each mirror, add a line like:
          mirrorsetup kbrot kbecrot kbtilt kbhgt 85 

     (in the example 85 is the distance between the two rotation points)

  For macro motors:
  ----------------- 
     Add a MAC_MOT motor controller in spec config. 
             Device field = "kb"

     Add motors tilt and height in config with controller pointing to
        MAC_MOT "kb" controller

     Set channels as: 
        channel 0 = tilt
        channel 1 = height

     Add !! manually !! in config files MOT_PAR lines to the
        tilt (channel 0) motor. (Just add lines after MOTXXX line
        correspoding to tilt motor

     MOTPAR:distance = 85 
     MOTPAR:kbrot = kbrot  
     MOTPAR:kbecrot = kbecrot  

     (in the example kbrot and kbecrot are the mnemonics for
      real motors (rotation and eccentric rotation). 85 is the
      distance between the two rotation points )
     
     Remember that one single kb motor controller is needed for
     several mirrors.  In that case it is necessary to define the
     module field in the unit/mod/chan parameter in the motor
     configuration in spec config.