added enable/disable brakes

src/main/java/frc/robot/RobotContainer.java

@@ -158,6 +158,10 @@ public RobotContainer() {
   public void stop() {
     drive.stop();
     superstructure.stop();
+    conveyor.disableBrake();
+    climb.disableBrake();
+    arm.disableBrake();
+    drive.disableBrake();
   }
 
   public void updateSubsystems() {
@@ -168,7 +172,10 @@ public void updateSubsystems() {
 
   public void updateUserInput() {
     Logger.recordOutput("Odometry/Gyro", drive.getGyroYaw().getDegrees());
-
+    conveyor.enableBrake();
+    climb.enableBrake();
+    arm.enableBrake();
+    drive.enableBrake();
     /*
      * Driver input w/ superstructure
      */

src/main/java/frc/robot/Superstructure.java

@@ -115,6 +115,9 @@ public void periodic() {
         intake.setStopped();
         conveyor.setStopped();
         shooter.setStopped();
+        conveyor.disableBrake();
+        climb.disableBrake();
+        arm.disableBrake();
         // arm.setStopped();
         break;
       case RESET:
@@ -136,6 +139,9 @@ public void periodic() {
          * arm.setpositon(HOME) -- > HOME setpoint
          */
         climb.setStopped();
+        conveyor.enableBrake();
+        climb.enableBrake();
+        arm.enableBrake();
         if (conveyor.hasNote()) {
           if (arm.getState() == ArmStates.AT_SETPOINT
               && shooter.getState() == ShooterStates.AT_SETPOINT) {

src/main/java/frc/robot/subsystems/climb/Climb.java

@@ -3,6 +3,8 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import org.littletonrobotics.junction.Logger;
 
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
 public class Climb extends SubsystemBase {
   private ClimbIO io;
   private ClimbIOInputsAutoLogged inputs = new ClimbIOInputsAutoLogged();
@@ -72,4 +74,14 @@ public void resetRotationCount() {
   public void setStopped() {
     io.stop();
   }
+
+  /** Disables brake mode */
+  public void disableBrake() {
+    io.setMotorMode(NeutralModeValue.Coast);
+  }
+
+  /** Enables brake mode */
+  public void enableBrake() {
+    io.setMotorMode(NeutralModeValue.Brake);
+  }
 }

src/main/java/frc/robot/subsystems/climb/ClimbIO.java

@@ -2,6 +2,8 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
 public interface ClimbIO {
   @AutoLog
   public class ClimbIOInputs {
@@ -24,4 +26,7 @@ public class ClimbIOInputs {
   public void stopLeader();
 
   public void stopFollower();
+
+  /** Changes motors to the given mode */
+  public default void setMotorMode(NeutralModeValue mode) {}  
 }

src/main/java/frc/robot/subsystems/climb/ClimbIOTalonFX.java

@@ -53,6 +53,12 @@ public void setVoltage(double voltage) {
     }
   }
 
+  @Override
+  public void setMotorMode(NeutralModeValue mode) {
+    leader.setNeutralMode(mode);
+    follower.setNeutralMode(mode);
+  }
+
   public void stop() {
     leader.stopMotor();
     follower.stopMotor();

src/main/java/frc/robot/subsystems/conveyor/Conveyor.java

@@ -2,6 +2,7 @@
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import org.littletonrobotics.junction.Logger;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 
 /**
  * Nemesis Conveyor for 2024
@@ -128,6 +129,16 @@ public boolean detectedShooterSide() {
   public boolean hasNote() {
     return inputs.hasNote;
   }
+
+  /** Disables brake mode */
+  public void disableBrake() {
+    io.setMotorMode(NeutralModeValue.Coast);
+  }
+
+  /** Enables brake mode */
+  public void enableBrake() {
+    io.setMotorMode(NeutralModeValue.Brake);
+  }
 }
 
 /**

src/main/java/frc/robot/subsystems/conveyor/ConveyorIO.java

@@ -2,6 +2,8 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
 /**
  * @author Ian Keller
  */
@@ -37,4 +39,7 @@ public default void runPower(double power) {}
   public default void runPower(double feederPower, double diverterPower) {}
 
   public default void stop() {}
+
+  /** Changes motors to the given mode */
+  public default void setMotorMode(NeutralModeValue mode) {}
 }

src/main/java/frc/robot/subsystems/conveyor/ConveyorIOTalonFX.java

@@ -1,5 +1,6 @@
 package frc.robot.subsystems.conveyor;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
@@ -89,6 +90,12 @@ public void runPower(double feederPower, double diverterPower) {
     diverterMotor.set(diverterPower);
   }
 
+  @Override
+  public void setMotorMode(NeutralModeValue mode) {
+    feederMotor.setNeutralMode(mode);
+    diverterMotor.setNeutralMode(mode);
+  }
+
   /**
    * Checks if there is something detected by the shooter side prox sensor
    *

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -351,4 +351,16 @@ public ChassisSpeeds getCurrentChassisSpeeds() {
 
     return currentSpeeds;
   }
+
+  public void enableBrake() {
+    for (Module m: modules) {
+      m.setBrakeMode(true);
+    }
+  }
+
+  public void disableBrake() {
+    for (Module m: modules) {
+      m.setBrakeMode(false);
+    }
+  }
 }

src/main/java/frc/robot/subsystems/elevatorarm/Arm.java

@@ -1,6 +1,8 @@
 package frc.robot.subsystems.elevatorarm;
 
 import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.ArmConstants;
 import frc.robot.util.HelperFn;
@@ -138,4 +140,14 @@ public double getAbsolutePosition() {
   public ArmStates getState() {
     return state;
   }
+
+  /** Disables brake mode */
+  public void disableBrake() {
+    arm.setMotorMode(NeutralModeValue.Coast);
+  }
+
+  /** Enables brake mode */
+  public void enableBrake() {
+    arm.setMotorMode(NeutralModeValue.Brake);
+  }
 }

src/main/java/frc/robot/subsystems/elevatorarm/ArmIO.java

@@ -2,6 +2,8 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
 public interface ArmIO {
   @AutoLog
   public static class ArmIOInputs {
@@ -30,4 +32,7 @@ public default void enableBrakeMode(boolean enable) {}
 
   /** Updates tunable numbers */
   public default void updateTunableNumbers() {}
+
+  /** Changes motors to the given mode */
+  public default void setMotorMode(NeutralModeValue mode) {}
 }

src/main/java/frc/robot/subsystems/elevatorarm/ArmIOTalonFX.java

@@ -150,6 +150,11 @@ public void setPower(DutyCycleOut power) {
     arm.setControl(power);
   }
 
+  @Override
+  public void setMotorMode(NeutralModeValue mode) {
+    arm.setNeutralMode(mode);
+  }
+
   // private static double CANCoderSensorUnitsToDegrees(double sensorUnits) {
   //     return sensorUnits * (360.0) / 4096.0;
   // }