diff --git a/.idea/.gitignore b/.idea/.gitignore
index 26d33521..38e29aac 100644
--- a/.idea/.gitignore
+++ b/.idea/.gitignore
@@ -1,3 +1,4 @@
 # Default ignored files
 /shelf/
 /workspace.xml
+discord.xml
\ No newline at end of file
diff --git a/.idea/compiler.xml b/.idea/compiler.xml
index b589d56e..cdd14b22 100644
--- a/.idea/compiler.xml
+++ b/.idea/compiler.xml
@@ -1,6 +1,28 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="CompilerConfiguration">
+    <annotationProcessing>
+      <profile name="Gradle Imported" enabled="true">
+        <outputRelativeToContentRoot value="true" />
+        <processorPath useClasspath="false">
+          <entry name="$USER_HOME$/.gradle/caches/modules-2/files-2.1/com.google.auto.value/auto-value/1.11.0/d1fd0e74d20e922145c3fede3f05e246bb6be281/auto-value-1.11.0.jar" />
+        </processorPath>
+        <module name="lib2813.lib.main" />
+      </profile>
+    </annotationProcessing>
     <bytecodeTargetLevel target="17" />
   </component>
+  <component name="JavacSettings">
+    <option name="ADDITIONAL_OPTIONS_OVERRIDE">
+      <module name="lib2813.lib" options="-XDstringConcat=inline" />
+      <module name="lib2813.lib.main" options="-XDstringConcat=inline" />
+      <module name="lib2813.lib.test" options="-XDstringConcat=inline" />
+      <module name="lib2813.limelight" options="-XDstringConcat=inline" />
+      <module name="lib2813.limelight.main" options="-XDstringConcat=inline" />
+      <module name="lib2813.limelight.test" options="-XDstringConcat=inline" />
+      <module name="lib2813.testing" options="-XDstringConcat=inline" />
+      <module name="lib2813.testing.main" options="-XDstringConcat=inline" />
+      <module name="lib2813.testing.test" options="-XDstringConcat=inline" />
+    </option>
+  </component>
 </project>
\ No newline at end of file
diff --git a/lib/src/main/java/com/team2813/lib2813/control/Motor.java b/lib/src/main/java/com/team2813/lib2813/control/Motor.java
index 6c92ed0b..80bad2c5 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/Motor.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/Motor.java
@@ -29,4 +29,7 @@ public interface Motor {
    * @return The current applied current
    */
   Current getAppliedCurrent();
+
+  /** Stops the motor. */
+  void disable();
 }
diff --git a/lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java b/lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java
index 4ddc5b00..8ac34981 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java
@@ -81,6 +81,11 @@ public Current getAppliedCurrent() {
     return Units.Amps.of(motor.getOutputCurrent());
   }
 
+  @Override
+  public void disable() {
+    motor.stopMotor();
+  }
+
   @Override
   public void setPosition(double position) {
     encoder.setPosition(position);
diff --git a/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java b/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
index 49f05a12..69437281 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
@@ -13,6 +13,7 @@
 import com.team2813.lib2813.control.DeviceInformation;
 import com.team2813.lib2813.control.InvertType;
 import com.team2813.lib2813.control.PIDMotor;
+import com.team2813.lib2813.subsystems.MotorSubsystem;
 import com.team2813.lib2813.util.InvalidCanIdException;
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Angle;
@@ -162,10 +163,31 @@ public TalonFX motor() {
     return motor;
   }
 
+  /**
+   * Sets the behavior the motor should exhibit upon receiving a request to stop: {@link
+   * MotorSubsystem#disable()}
+   *
+   * <ul>
+   *   <li>Coast: The motor stops applying an input, but continues to move with its inertia.
+   *   <li>Brake: The motor stops applying an input, and actively opposes its inertia.
+   * </ul>
+   *
+   * @param mode
+   */
   public void setNeutralMode(NeutralModeValue mode) {
     motor.setNeutralMode(mode);
   }
 
+  /**
+   * Sends a disable command to the motor, placing it in its neutral value.
+   *
+   * @see TalonFXWrapper#setNeutralMode(NeutralModeValue)
+   */
+  @Override
+  public void disable() {
+    motor.disable();
+  }
+
   @Override
   public void configPIDF(int slot, double p, double i, double d, double f) {
     SlotConfigs conf = new SlotConfigs();
diff --git a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
index c8052804..d2e76276 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -136,7 +136,7 @@ public final void enable() {
    */
   public final void disable() {
     isEnabled = false;
-    motor.set(controlMode, 0);
+    motor.disable();
   }
 
   /**