Added safe limit setter

src/sinqAxis.cpp

@@ -493,6 +493,31 @@ asynStatus sinqAxis::setMotorPosition(double motorPos) {
     return status;
 }
 
+asynStatus sinqAxis::setLimits(double highLimit, double lowLimit) {
+    asynStatus status = asynSuccess;
+
+    if (highLimit < lowLimit) {
+        double motorPos;
+        double motorRecRes;
+        status = motorPosition(&motorPos);
+        if (status != asynSuccess) {
+            return status;
+        }
+        getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+
+        // This is a safe fallback
+        setAxisParamChecked(this, motorHighLimitFromDriver,
+                            motorPos + motorRecRes);
+        setAxisParamChecked(this, motorLowLimitFromDriver,
+                            motorPos - motorRecRes);
+    } else {
+        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
+        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+    }
+
+    return status;
+}
+
 asynStatus sinqAxis::assertConnected() {
     int connected = 0;
     getAxisParamChecked(this, motorConnected, &connected);