Unexpected Behavior with swapping nEnableMode mid-execution

[ZLLentz]

Current Behavior

• Swapping to nEnableMode := ALWAYS works, the motor gets enabled if it is otherwise safe✔️
• Swapping to nEnableMode := DURING_MOTION causes issues ❌
• Using nEnableMode := NEVER doesn't work as expected if bPowerSelf = TRUE ❌

DURING_MOTION:

• Starting and staying in this mode works fine
• Swapping to this mode while disabled works fine
• Swapping to this mode while enabled leaves the motor stuck in an enabled state: bEnable only resets to FALSE at the end of a move, not in some steady state.

NEVER

• If bPowerSelf is TRUE, then the PLC code will still apply MC_POWER and never relinquish control to the twincat NC gui. Note that it is not recommended to change bPowerSelf while the PLC is running due to Motor enable can get stuck at "Enable:=TRUE" via online writes #185.

Expected Behavior

• Swapping to DURING_MOTION should disable the motor if we are not doing a move.
• NEVER should work as advertised in the README: the PLC code should stop adjusting the enable state.