Add internalTachoCount as hidden property

For now, only for experimental usage.

source/Motor.m

@@ -113,6 +113,8 @@ classdef Motor < MaskedHandle & dynamicprops
         
         isSynced;  % Is motor running in synced mode?
         physicalMotorConnected;  % Physical motor connected to this port?
+        
+        internalTachoCount;  % Internal tachocount used for positioning the motor with tacholimit
     end
     
     methods  % Standard methods
@@ -779,6 +781,18 @@ classdef Motor < MaskedHandle & dynamicprops
             end
         end
         
+        function cnt = get.internalTachoCount(motor)
+            cnt = 0;
+            if motor.connectedToBrick
+                cnt = motor.getInternalTachoCount();
+                if isnan(cnt)
+                    warning('Motor::get.internalTachoCount: Could not detect motor at port %s.', ...
+                        port2str('Motor', motor.port));
+                    cnt = 0;
+                end
+            end
+        end
+        
         function speed = get.currentSpeed(motor)
             speed = 0;
             if motor.connectedToBrick
@@ -918,6 +932,13 @@ classdef Motor < MaskedHandle & dynamicprops
             end
         end
         
+        function cnt = getInternalTachoCount(motor)
+            [~, cnt] = motor.commInterface.outputRead(0, motor.portNo);
+            if motor.debug
+                fprintf('(DEBUG) Motor::getInternalTachoCount: Called outputRead on Port %s\n', port2str('Motor', motor.port));
+            end
+        end
+        
         function speed = getSpeed(motor)
             if ~motor.connectedToBrick
                 error(['Motor::getSpeed: Motor-Object not connected to comm handle.',...