MDI Softlimit Check before execution

[Bagels]

Can we have the MDI terminal commands check softlimits before executing? It should be a pretty simple check to implement.

Currently the softlimits only trigger on MDI commands in realtime, ie, once the machine has already run into them it tries to decelerate (past the soft limits) and move back to position. This means that the softlimits have to be set quite far into the travel range of the machine to make sure the axis can decelerate fully from top speed before hitting the hard limits, which is wasteful.