Slave-motor now saves its master in sync mode

source/Motor.m

@@ -155,11 +155,35 @@ classdef Motor < MaskedHandle & dynamicprops
             end
             
             % If motor has been started synced with another, and it stopped 'itself' (when
-            % using a tacholimit), the sync cache has to be deleted (in general, syncedStop
+            % using a tacholimit), the sync cache has to be deleted (otherwise, syncedStop
             % would do so)
             if motor.isSynced
-                delete(motor.findprop('slave')); 
-                motor.internalReset();  % Better safe than sorry
+                % Retrieve and delete former slave
+                if length(findprop(motor, 'slave'))==1 
+                    syncMotor = motor.slave;
+                    delete(motor.findprop('slave'));
+                    delete(syncMotor.findprop('master'));
+                else
+                    syncMotor = motor.master;
+                    delete(motor.findprop('master'));
+                    delete(syncMotor.findprop('slave'));
+                end
+                
+                % Reset state
+                motor.applyState();
+                syncMotor.applyState();
+                
+                % Send power on next set
+                if motor.state.sendPowerOnSet
+                    motor.state.sendOnStart = bitset(motor.state.sendOnStart, SendOnStart.Power, 1);
+                end
+                if syncMotor.state.sendPowerOnSet
+                    syncMotor.state.sendOnStart = bitset(syncMotor.state.sendOnStart, SendOnStart.Power, 1);
+                end
+                
+                % Better safe than sorry
+                motor.internalReset();  
+                syncMotor.internalReset();
             end
             
             % If the motor coasts into its stops, the internal tachocount has to be reset 
@@ -357,18 +381,11 @@ classdef Motor < MaskedHandle & dynamicprops
                 end
             end
             
-            % Cache old values to make it possible to reset them on stopSynced
+            % Cache old values to make it possible to reset them on syncedStop
             % Note: the existence of 'slave' is also used to determine whether motor is 
             %       running synchronized or not, see get.isSynced()
-            meta = motor.findprop('slave');
-            if isempty(meta)
-                meta = motor.addprop('slave');
-                meta.Hidden = true;
-                meta.Access = 'private';
-            end
-            meta.Hidden = true;
-            meta.Access = 'private';
-            motor.slave = syncMotor;
+            motor.addProperty(syncMotor, 'slave', true);
+            syncMotor.addProperty(motor, 'master', true);
             
             motor.saveState();
             syncMotor.saveState();
@@ -411,13 +428,20 @@ classdef Motor < MaskedHandle & dynamicprops
             
             if ~motor.isSynced
                 error('Motor::syncedStop: Motor has not been started synchronized with another.');
+            else
+                % Retrieve synced motor from cache
+                if length(findprop(motor, 'slave'))==1 
+                    syncMotor = motor.slave;
+                    delete(motor.findprop('slave'));
+                    delete(syncMotor.findprop('master'));
+                else
+                    syncMotor = motor.master;
+                    delete(motor.findprop('master'));
+                    delete(syncMotor.findprop('slave'));
+                end
             end 
             
-            % Retrieve synced motor from cache
-            syncMotor = motor.slave;
-            delete(motor.findprop('slave'));
-            
-            if ~motor.state.connectedToBrick || ~syncMotor.state.connectedToBrick
+            if ~motor.connectedToBrick || ~syncMotor.connectedToBrick
                 error('Motor::syncedStop: Motor-Object not connected to comm handle.');
             elseif ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
                 error('Motor::syncedStop: No physical motor connected to either Port %s or %s.',...
@@ -847,11 +871,12 @@ classdef Motor < MaskedHandle & dynamicprops
         end
         
         function synced = get.isSynced(motor)
-            synced = (length(findprop(motor, 'slave'))==1); 
+            synced = (length(findprop(motor, 'slave'))==1 || ...
+                      length(findprop(motor, 'master'))==1); 
         end
         
         function motorType = get.type(motor)
-            if motor.state.connectedToBrick
+            if motor.connectedToBrick
                 [motorType, ~] = motor.getTypeMode();
             else
                 motorType = DeviceType.Unknown;
@@ -1075,6 +1100,22 @@ classdef Motor < MaskedHandle & dynamicprops
             motor.state = motor.savedState;
             delete(motor.findprop('savedState'))
         end
+        
+        function addProperty(motor, propValue, propName, override)
+            override = str2bool(override);
+            
+            meta = motor.findprop(propName);
+            
+            if isempty(meta)
+                meta = motor.addprop(propName);
+                meta.Hidden = true;
+                meta.Access = 'private';
+            elseif ~override
+                error('Motor::addProperty: Motor already has this property.');
+            end
+            
+            motor.(propName) = propValue;
+        end
     end
     
     methods (Access = {?EV3})