Fix issue #21

Reset() is now called automatically on every start() with limitValue~=0
and brakeMode-change

source/Motor.m

@@ -193,10 +193,14 @@ classdef Motor < handle & dynamicprops
             
             % Trigger warning if power = 0 (as it still sets the motor internally in a
             % 'running' mode
-            if motor.power == 0
-               warning('Motor::start: Motor starting with power=0.'); 
+%             if motor.power == 0
+%                warning('Motor::start: Motor starting with power=0.'); 
+%             end
+
+            if motor.brakeMode_ == BrakeMode.Coast
+                motor.reset();
             end
-            
+
             % Call right function in commInterface depending on limitValue and limitMode
             if motor.limitValue==0
                 if motor.sendPowerOnNextStart
@@ -599,21 +603,32 @@ classdef Motor < handle & dynamicprops
                 error('Motor::set.smoothStop: Smooth stop steps are out of bounds.');
             end
             
-            if ~isempty(motor.limitValue) && steps>motor.limitValue
-                error(['Motor::set.smoothStop: Smooth stop steps are greater than ',...
-                    'limitValue.']);
-            end
+%             if ~isempty(motor.limitValue) && steps>motor.limitValue
+%                 error(['Motor::set.smoothStop: Smooth stop steps are greater than ',...
+%                     'limitValue.']);
+%             end
             
             motor.smoothStop = steps;
         end
     	
         function set.brakeMode(motor, brakeMode)
             validModes = {'Coast', 'Brake'};
+            if ~motor.init
+                oldMode = motor.brakeMode_;
+            end
+            
             if ~ischar(brakeMode) || ~ismember(brakeMode, validModes)
                 error('Motor::set.brakeMode: Given parameter is not a valid brake mode.');
-            else 
-                motor.brakeMode = brakeMode;
-                motor.brakeMode_ = str2brake(brakeMode); 
+            end 
+            
+            motor.brakeMode = brakeMode;
+            motor.brakeMode_ = str2brake(brakeMode); 
+            
+            
+            if ~motor.init && motor.brakeMode_~=oldMode && ... 
+                    motor.connectedToBrick && motor.physicalMotorConnected
+                motor.reset();
+%                 motor.setBrakeMode();
             end
         end