Fix issue #17

When calling stop() on a motor running synced, the both motors will now
stop (instead of an error being thrown). Therefore, the user does not
need to call syncedStop anymore.

source/Motor.m

@@ -157,6 +157,12 @@ classdef Motor < MaskedHandle & dynamicprops
         %isSynced (bool): True if motor is running in synced mode
         isSynced;
         
+        % isMaster (bool): True if motor is running in synced mode and has a slave
+        isMaster;
+        
+        % isSlave (bool): True if motor is running in synced mode and has a master
+        isSlave;
+        
         % physicalMotorConnected (bool): True if physical motor is connected to this port
         physicalMotorConnected;
         
@@ -336,8 +342,14 @@ classdef Motor < MaskedHandle & dynamicprops
                 error('Motor::stop: No physical motor connected to Port %s',...
                        port2str('Motor', motor.port));
             elseif motor.isSynced && motor.isRunning
-                error(['Motor::stop: Motor is running synchronized with another motor. ' ,...
-                       'Use ''syncedStop'' on the ''master''-motor.']);
+                if motor.isMaster
+                    motor.syncedStop();
+                elseif motor.isSlave
+                    motor.('master').syncedStop();
+                end
+                return;
+%                 error(['Motor::stop: Motor is running synchronized with another motor. ' ,...
+%                        'Use ''syncedStop'' on the ''master''-motor.']);
             end
             
             motor.commInterface.outputStop(0, motor.port, motor.brakeMode_);
@@ -931,8 +943,15 @@ classdef Motor < MaskedHandle & dynamicprops
         end
         
         function synced = get.isSynced(motor)
-            synced = (length(findprop(motor, 'slave'))==1 || ...
-                      length(findprop(motor, 'master'))==1); 
+            synced = motor.isSlave || motor.isMaster;
+        end
+        
+        function isSlave = get.isSlave(motor)
+            isSlave = length(findprop(motor, 'master'))==1;
+        end 
+        
+        function isMaster = get.isMaster(motor)
+            isMaster = length(findprop(motor, 'slave'))==1;
         end
         
         function motorType = get.type(motor)