Actuators with a non-zero pose angle do not work correctly. I had one with an angle of 180 degrees, which resulted in it accelerating off in the wrong direction, ignoring the stops. They worked in the past, but it looks like the code to rotate the axis of movement by the initial angle when calculating the position got removed at some point.
The attached patch adds the removed code back in, along with a comment which attempts to explain why it is necessary.
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