Fix issue #24

smoothStart/Stop will now be included in limitValue

source/Motor.m

@@ -217,10 +217,16 @@ classdef Motor < handle & dynamicprops
                     fprintf('(DEBUG) Motor::start: Called outputStart on Port %s\n', port2str('Motor', motor.port));
                 end
             else
+                limit = motor.limitValue - (motor.smoothStart + motor.smoothStop);
+                if limit < 0
+                    error(['Motor::start: smoothStart/Stop invalid. ' ,...
+                        'smoothStart + smoothStop has to be smaller than limitValue.']);
+                end
+                
                 if strcmpi(motor.limitMode, 'Tacho')
                     if motor.speedRegulation
                         motor.commInterface.outputStepSpeed(0, motor.port, motor.power,...
-                            motor.smoothStart, motor.limitValue, motor.smoothStop,...
+                            motor.smoothStart, limit, motor.smoothStop,...
                             motor.brakeMode_);
                         
                         if motor.debug
@@ -229,7 +235,7 @@ classdef Motor < handle & dynamicprops
                         end
                     else
                         motor.commInterface.outputStepPower(0, motor.port, motor.power,...
-                            motor.smoothStart, motor.limitValue, motor.smoothStop,...
+                            motor.smoothStart, limit, motor.smoothStop,...
                             motor.brakeMode_);
                         
                         if motor.debug
@@ -240,7 +246,7 @@ classdef Motor < handle & dynamicprops
                 elseif strcmpi(motor.limitMode, 'Time')
                     if motor.speedRegulation
                         motor.commInterface.outputTimeSpeed(0, motor.port, motor.power,...
-                            motor.smoothStart, motor.limitValue, motor.smoothStop,...
+                            motor.smoothStart, limit, motor.smoothStop,...
                             motor.brakeMode_);
                         
                         if motor.debug
@@ -249,7 +255,7 @@ classdef Motor < handle & dynamicprops
                         end
                     else
                         motor.commInterface.outputTimePower(0, motor.port, motor.power,...
-                            motor.smoothStart, motor.limitValue, motor.smoothStop,...
+                            motor.smoothStart, limit, motor.smoothStop,...
                             motor.brakeMode_);
                         
                         if motor.debug
@@ -587,10 +593,10 @@ classdef Motor < handle & dynamicprops
                 error('Motor::set.smoothStart: Smooth start steps are out of bounds.');
             end
             
-            if ~isempty(motor.limitValue) && steps>motor.limitValue
-                warning(['Motor::set.smoothStart: Smooth start steps are greater than ',...
-                    'limitValue.']);
-            end
+%             if ~isempty(motor.limitValue) && steps>motor.limitValue
+%                 warning(['Motor::set.smoothStart: Smooth start steps are greater than ',...
+%                     'limitValue.']);
+%             end
             
             motor.smoothStart = steps;
         end

[Tim Stadtmann]

Also fixes Issue #18