Merge branch 'develop'

Patches master to version v0.4-rc.12

source/Motor.m

@@ -1148,7 +1148,7 @@ classdef Motor < MaskedHandle & dynamicprops
                 error('Motor::releaseBrake: No physical motor connected to Port %s',...
                        port2str('Motor', motor.port));
             elseif motor.currentSpeed~=0
-                error('Motor::releaseBrake: Can''t releaseBrake brake because Motor is moving');
+                error('Motor::releaseBrake: Can''t release brake because Motor is moving');
             end
             
             if motor.speedRegulation 
@@ -1257,15 +1257,34 @@ classdef Motor < MaskedHandle & dynamicprops
         end
         
         function resetPhysicalMotor(motor)
-            %
+            % Do nothing if their is either no connection or no motor connected to port
             if ~motor.connectedToBrick || ~motor.physicalMotorConnected
                 return; 
             end
             
+            % If motor is *busily* running, stop it. That avoids suicidal stuff like: 
+            %     b = EV3(); b.connect('usb');
+            %     b.motorA.start();
+            %     b.disconnect(); -> Motor still running and cannot directly be stopped anymore
+            if motor.isRunning
+                motor.stop(); 
+            end
+            
+            % Reset tacho values
             motor.resetTachoCount();
             motor.internalReset();
-            motor.setBrake(0);
-            %motor.stop();
+            
+            % setBrake (correctly) throws an error if currentSpeed ~= 0. In this case, it
+            % has already been checked if motor is busily running. At this point, the only
+            % things that provoke a currentSpeed~=0 are coasting into a stop or a user manually
+            % spinning the motor. In both cases, there is no active brake set which means that
+            % setBrake(0) unnecessary either way. Therefore, if setBrake throws an error, it
+            % can be safely ignored.
+            try
+                motor.setBrake(0);
+            catch ME
+                % Safely ignore this...
+            end
         end
     end
 end

source/Sensor.m

@@ -527,8 +527,12 @@ classdef Sensor < MaskedHandle
                 return
             end
             
-            sensor.mode = DeviceMode(sensor.type, uint8(0));
-            sensor.reset;
+            try
+                sensor.mode = DeviceMode(sensor.type, uint8(0));
+                sensor.reset;
+            catch ME
+                % For now: ignore...
+            end
         end
     end
 end