Fix issue #34

source/Motor.m

@@ -142,6 +142,10 @@ classdef Motor < MaskedHandle & dynamicprops
         % state (MotorState): State-struct consisting of several special Motor-flags      .   
         % See also MOTORSTATE         
         state = MotorState();
+        
+        % currentSpeedRegulation (bool): speedRegulation-value with which the motor has been started
+        % See also SPEEDREGULATION
+        currentSpeedRegulation;
     end
     
     properties (Hidden, Dependent, Access = private)  % Hidden, dependent properties for internal use only
@@ -204,6 +208,11 @@ classdef Motor < MaskedHandle & dynamicprops
                 error('Motor::start: Motor is already running!');
             end
             
+            if motor.speedRegulation ~= motor.currentSpeedRegulation
+                motor.currentSpeedRegulation = motor.speedRegulation; 
+                motor.state.sendOnStart = bitset(motor.state.sendOnStart, SendOnStart.Power, 1);
+            end
+            
             % If motor has been started synced with another, and it stopped 'itself' (when
             % using a tacholimit), the sync cache has to be deleted (otherwise, syncedStop
             % would do so)
@@ -668,15 +677,37 @@ classdef Motor < MaskedHandle & dynamicprops
             
             speedRegulation = str2bool(speedRegulation);
             
-            if ~isempty(motor.speedRegulation) && (speedRegulation ~= motor.speedRegulation)
-                if motor.state.sendPowerOnSet
-                    motor.state.sendOnStart = bitset(motor.state.sendOnStart, SendOnStart.Power, 1);
+            if speedRegulation ~= motor.speedRegulation
+                if ~isempty(motor.speedRegulation) 
+                    if motor.state.sendPowerOnSet
+                        motor.state.sendOnStart = bitset(motor.state.sendOnStart, SendOnStart.Power, 1);
+                    end
+                end
+
+                if ~motor.isRunning
+                    motor.currentSpeedRegulation = speedRegulation;
                 end
             end
             
             motor.speedRegulation = speedRegulation;
         end
         
+        function set.currentSpeedRegulation(motor, currentSpeedRegulation)
+            if ~isBool(currentSpeedRegulation)
+                error('Motor::set.currentSpeedRegulation: Given parameter is not a bool.');
+            end
+            
+            currentSpeedRegulation = str2bool(currentSpeedRegulation);
+            
+%             if ~isempty(motor.speedRegulation) && (speedRegulation ~= motor.speedRegulation)
+%                 if motor.state.sendPowerOnSet
+%                     motor.state.sendOnStart = bitset(motor.state.sendOnStart, SendOnStart.Power, 1);
+%                 end
+%             end
+            
+            motor.currentSpeedRegulation = currentSpeedRegulation;
+        end
+        
         function set.smoothStart(motor, steps)
             if ~isnumeric(steps)
                 error('Motor::set.smoothStart: Given parameter is not a numeric.');
@@ -746,7 +777,7 @@ classdef Motor < MaskedHandle & dynamicprops
                 motor.state.sendPowerOnSet = false;
             end
             
-            motor.limitValue= limitValue;
+            motor.limitValue = limitValue;
         end
         
         function set.port(motor, port)
@@ -847,6 +878,7 @@ classdef Motor < MaskedHandle & dynamicprops
             motor.brakeMode = p.Results.brakeMode;
             motor.debug = p.Results.debug;
             motor.speedRegulation = p.Results.speedRegulation;
+            motor.currentSpeedRegulation = p.Results.speedRegulation;
             motor.smoothStart = p.Results.smoothStart;
             motor.smoothStop = p.Results.smoothStop;
         end
@@ -955,7 +987,7 @@ classdef Motor < MaskedHandle & dynamicprops
                 return;
             end;
             
-            if motor.speedRegulation
+            if motor.currentSpeedRegulation
                 motor.commInterface.outputSpeed(0, motor.port, power);
 
                 if motor.debug