From f7777eac04a304bd6b46b6749dcff895fdb76cbd Mon Sep 17 00:00:00 2001
From: spderman3333 <stefan.v.dikov@gmail.com>
Date: Fri, 10 Oct 2025 17:27:52 -0700
Subject: [PATCH 1/7] Fixed the disable method in MotorSubystem (now called
 PositionalMotorSubsyem for clarity).

---
 .idea/discord.xml                             | 14 +++++++++
 .../com/team2813/lib2813/control/Motor.java   |  5 ++++
 .../control/motors/SparkMaxWrapper.java       | 10 +++++++
 .../control/motors/TalonFXWrapper.java        | 17 +++++++++++
 ...tem.java => PositionalMotorSubsystem.java} | 30 +++++++++----------
 5 files changed, 61 insertions(+), 15 deletions(-)
 create mode 100644 .idea/discord.xml
 rename lib/src/main/java/com/team2813/lib2813/subsystems/{MotorSubsystem.java => PositionalMotorSubsystem.java} (90%)

diff --git a/.idea/discord.xml b/.idea/discord.xml
new file mode 100644
index 00000000..912db825
--- /dev/null
+++ b/.idea/discord.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="DiscordProjectSettings">
+    <option name="show" value="PROJECT_FILES" />
+    <option name="description" value="" />
+    <option name="applicationTheme" value="default" />
+    <option name="iconsTheme" value="default" />
+    <option name="button1Title" value="" />
+    <option name="button1Url" value="" />
+    <option name="button2Title" value="" />
+    <option name="button2Url" value="" />
+    <option name="customApplicationId" value="" />
+  </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..c73bca6f 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 +29,9 @@ 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..073594e8 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
@@ -20,6 +20,7 @@
 import java.util.ArrayList;
 import java.util.List;
 
+@Deprecated(forRemoval = true) // We likely wont use sparkmax's ever again.
 public class SparkMaxWrapper implements PIDMotor {
   private final List<SparkMax> followers = new ArrayList<>();
   private final SparkBase motor;
@@ -81,6 +82,15 @@ public Current getAppliedCurrent() {
     return Units.Amps.of(motor.getOutputCurrent());
   }
 
+  /**
+   * WARNING: due to the end of support of SparkMaxWrapper, there is no evidence that this method will work.
+   *  Proceed with caution!
+   */
+  @Override
+  public void disable() {
+    motor.disable();
+  }
+
   @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..08c10542 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
@@ -162,10 +162,27 @@ public TalonFX motor() {
     return motor;
   }
 
+  /**
+   * Sets the behavior the motor should exhibit upon receiving a request to stop: "<i>disable()</i>".
+   * <ul>
+   *   <li>Coast: The motor stops applying an input, but continues to move with its inertia.</li>
+   *   <li>Brake: The motor stops applying an input, and actively opposes its inertia.</li>
+   * </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/PositionalMotorSubsystem.java
similarity index 90%
rename from lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
rename to lib/src/main/java/com/team2813/lib2813/subsystems/PositionalMotorSubsystem.java
index c8052804..8e050eb1 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/PositionalMotorSubsystem.java
@@ -28,7 +28,7 @@
  *
  * @param <T> the type of the {@link Supplier<Angle>} used to specify setpoints.
  */
-public abstract class MotorSubsystem<T extends Supplier<Angle>> extends SubsystemBase
+public abstract class PositionalMotorSubsystem<T extends Supplier<Angle>> extends SubsystemBase
     implements Motor, Encoder {
 
   protected final Motor motor;
@@ -44,7 +44,7 @@ public abstract class MotorSubsystem<T extends Supplier<Angle>> extends Subsyste
 
   private boolean isEnabled;
 
-  protected MotorSubsystem(MotorSubsystemConfiguration builder) {
+  protected PositionalMotorSubsystem(PositionalMotorSubsystemConfiguration builder) {
     this.controller = builder.controller;
     this.controller.setTolerance(builder.acceptableError);
     acceptableError = builder.acceptableError;
@@ -136,7 +136,7 @@ public final void enable() {
    */
   public final void disable() {
     isEnabled = false;
-    motor.set(controlMode, 0);
+    motor.disable();
   }
 
   /**
@@ -248,8 +248,8 @@ public void periodic() {
     }
   }
 
-  /** A configuration for a MotorSubsystem */
-  public static class MotorSubsystemConfiguration {
+  /** A configuration for a PositionalMotorSubsystem */
+  public static class PositionalMotorSubsystemConfiguration {
     /** The default acceptable position error. */
     public static final double DEFAULT_ERROR = 5.0;
 
@@ -273,7 +273,7 @@ public static class MotorSubsystemConfiguration {
      * @param motor the motor to control
      * @param encoder the encoder providing feedback
      */
-    public MotorSubsystemConfiguration(Motor motor, Encoder encoder) {
+    public PositionalMotorSubsystemConfiguration(Motor motor, Encoder encoder) {
       this.motor = Objects.requireNonNull(motor, "motor should not be null");
       this.encoder = Objects.requireNonNull(encoder, "encoder should not be null");
       controller = new PIDController(0, 0, 0);
@@ -290,7 +290,7 @@ public MotorSubsystemConfiguration(Motor motor, Encoder encoder) {
      *
      * @param motor the integrated motor controller
      */
-    public MotorSubsystemConfiguration(PIDMotor motor) {
+    public PositionalMotorSubsystemConfiguration(PIDMotor motor) {
       this(motor, motor);
     }
 
@@ -300,7 +300,7 @@ public MotorSubsystemConfiguration(PIDMotor motor) {
      * @param controller The PID controller
      * @return {@code this} for chaining
      */
-    public MotorSubsystemConfiguration controller(PIDController controller) {
+    public PositionalMotorSubsystemConfiguration controller(PIDController controller) {
       this.controller = controller;
       return this;
     }
@@ -312,7 +312,7 @@ public MotorSubsystemConfiguration controller(PIDController controller) {
      * @param controlMode The mode to use when controlling the motor
      * @return {@code this} for chaining
      */
-    public MotorSubsystemConfiguration controlMode(ControlMode controlMode) {
+    public PositionalMotorSubsystemConfiguration controlMode(ControlMode controlMode) {
       this.controlMode = controlMode;
       return this;
     }
@@ -325,7 +325,7 @@ public MotorSubsystemConfiguration controlMode(ControlMode controlMode) {
      * @param d the derivative
      * @return {@code this} for chaining
      */
-    public MotorSubsystemConfiguration PID(double p, double i, double d) {
+    public PositionalMotorSubsystemConfiguration PID(double p, double i, double d) {
       controller.setPID(p, i, d);
       return this;
     }
@@ -336,7 +336,7 @@ public MotorSubsystemConfiguration PID(double p, double i, double d) {
      * @param startingPosition the initial setpoint
      * @return {@code this} for chaining
      */
-    public MotorSubsystemConfiguration startingPosition(Angle startingPosition) {
+    public PositionalMotorSubsystemConfiguration startingPosition(Angle startingPosition) {
       this.startingPosition = startingPosition.in(this.rotationUnit);
       return this;
     }
@@ -350,12 +350,12 @@ public MotorSubsystemConfiguration startingPosition(Angle startingPosition) {
      * @param startingPositionSupplier supplier to use to get the initial setpoint
      * @return {@code this} for chaining
      */
-    public MotorSubsystemConfiguration startingPosition(Supplier<Angle> startingPositionSupplier) {
+    public PositionalMotorSubsystemConfiguration startingPosition(Supplier<Angle> startingPositionSupplier) {
       return startingPosition(startingPositionSupplier.get());
     }
 
     /** Sets the acceptable position error. */
-    public MotorSubsystemConfiguration acceptableError(double error) {
+    public PositionalMotorSubsystemConfiguration acceptableError(double error) {
       this.acceptableError = error;
       return this;
     }
@@ -365,13 +365,13 @@ public MotorSubsystemConfiguration acceptableError(double error) {
      *
      * @param rotationUnit The angle unit to use for calculations
      */
-    public MotorSubsystemConfiguration rotationUnit(AngleUnit rotationUnit) {
+    public PositionalMotorSubsystemConfiguration rotationUnit(AngleUnit rotationUnit) {
       startingPosition = rotationUnit.convertFrom(startingPosition, this.rotationUnit);
       this.rotationUnit = rotationUnit;
       return this;
     }
 
-    public MotorSubsystemConfiguration publishTo(NetworkTableInstance ntInstance) {
+    public PositionalMotorSubsystemConfiguration publishTo(NetworkTableInstance ntInstance) {
       this.ntInstance = ntInstance;
       return this;
     }

From 6fd0fa2d91824c6df87d54e10606c7acb33e5d39 Mon Sep 17 00:00:00 2001
From: spderman3333 <stefan.v.dikov@gmail.com>
Date: Mon, 13 Oct 2025 14:27:17 -0700
Subject: [PATCH 2/7] Cherrypicked c646ea4 and rerenamed a class, to prevent
 need for major refactor.

---
 ...otorSubsystem.java => MotorSubsystem.java} | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)
 rename lib/src/main/java/com/team2813/lib2813/subsystems/{PositionalMotorSubsystem.java => MotorSubsystem.java} (90%)

diff --git a/lib/src/main/java/com/team2813/lib2813/subsystems/PositionalMotorSubsystem.java b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
similarity index 90%
rename from lib/src/main/java/com/team2813/lib2813/subsystems/PositionalMotorSubsystem.java
rename to lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
index 8e050eb1..d2e76276 100644
--- a/lib/src/main/java/com/team2813/lib2813/subsystems/PositionalMotorSubsystem.java
+++ b/lib/src/main/java/com/team2813/lib2813/subsystems/MotorSubsystem.java
@@ -28,7 +28,7 @@
  *
  * @param <T> the type of the {@link Supplier<Angle>} used to specify setpoints.
  */
-public abstract class PositionalMotorSubsystem<T extends Supplier<Angle>> extends SubsystemBase
+public abstract class MotorSubsystem<T extends Supplier<Angle>> extends SubsystemBase
     implements Motor, Encoder {
 
   protected final Motor motor;
@@ -44,7 +44,7 @@ public abstract class PositionalMotorSubsystem<T extends Supplier<Angle>> extend
 
   private boolean isEnabled;
 
-  protected PositionalMotorSubsystem(PositionalMotorSubsystemConfiguration builder) {
+  protected MotorSubsystem(MotorSubsystemConfiguration builder) {
     this.controller = builder.controller;
     this.controller.setTolerance(builder.acceptableError);
     acceptableError = builder.acceptableError;
@@ -248,8 +248,8 @@ public void periodic() {
     }
   }
 
-  /** A configuration for a PositionalMotorSubsystem */
-  public static class PositionalMotorSubsystemConfiguration {
+  /** A configuration for a MotorSubsystem */
+  public static class MotorSubsystemConfiguration {
     /** The default acceptable position error. */
     public static final double DEFAULT_ERROR = 5.0;
 
@@ -273,7 +273,7 @@ public static class PositionalMotorSubsystemConfiguration {
      * @param motor the motor to control
      * @param encoder the encoder providing feedback
      */
-    public PositionalMotorSubsystemConfiguration(Motor motor, Encoder encoder) {
+    public MotorSubsystemConfiguration(Motor motor, Encoder encoder) {
       this.motor = Objects.requireNonNull(motor, "motor should not be null");
       this.encoder = Objects.requireNonNull(encoder, "encoder should not be null");
       controller = new PIDController(0, 0, 0);
@@ -290,7 +290,7 @@ public PositionalMotorSubsystemConfiguration(Motor motor, Encoder encoder) {
      *
      * @param motor the integrated motor controller
      */
-    public PositionalMotorSubsystemConfiguration(PIDMotor motor) {
+    public MotorSubsystemConfiguration(PIDMotor motor) {
       this(motor, motor);
     }
 
@@ -300,7 +300,7 @@ public PositionalMotorSubsystemConfiguration(PIDMotor motor) {
      * @param controller The PID controller
      * @return {@code this} for chaining
      */
-    public PositionalMotorSubsystemConfiguration controller(PIDController controller) {
+    public MotorSubsystemConfiguration controller(PIDController controller) {
       this.controller = controller;
       return this;
     }
@@ -312,7 +312,7 @@ public PositionalMotorSubsystemConfiguration controller(PIDController controller
      * @param controlMode The mode to use when controlling the motor
      * @return {@code this} for chaining
      */
-    public PositionalMotorSubsystemConfiguration controlMode(ControlMode controlMode) {
+    public MotorSubsystemConfiguration controlMode(ControlMode controlMode) {
       this.controlMode = controlMode;
       return this;
     }
@@ -325,7 +325,7 @@ public PositionalMotorSubsystemConfiguration controlMode(ControlMode controlMode
      * @param d the derivative
      * @return {@code this} for chaining
      */
-    public PositionalMotorSubsystemConfiguration PID(double p, double i, double d) {
+    public MotorSubsystemConfiguration PID(double p, double i, double d) {
       controller.setPID(p, i, d);
       return this;
     }
@@ -336,7 +336,7 @@ public PositionalMotorSubsystemConfiguration PID(double p, double i, double d) {
      * @param startingPosition the initial setpoint
      * @return {@code this} for chaining
      */
-    public PositionalMotorSubsystemConfiguration startingPosition(Angle startingPosition) {
+    public MotorSubsystemConfiguration startingPosition(Angle startingPosition) {
       this.startingPosition = startingPosition.in(this.rotationUnit);
       return this;
     }
@@ -350,12 +350,12 @@ public PositionalMotorSubsystemConfiguration startingPosition(Angle startingPosi
      * @param startingPositionSupplier supplier to use to get the initial setpoint
      * @return {@code this} for chaining
      */
-    public PositionalMotorSubsystemConfiguration startingPosition(Supplier<Angle> startingPositionSupplier) {
+    public MotorSubsystemConfiguration startingPosition(Supplier<Angle> startingPositionSupplier) {
       return startingPosition(startingPositionSupplier.get());
     }
 
     /** Sets the acceptable position error. */
-    public PositionalMotorSubsystemConfiguration acceptableError(double error) {
+    public MotorSubsystemConfiguration acceptableError(double error) {
       this.acceptableError = error;
       return this;
     }
@@ -365,13 +365,13 @@ public PositionalMotorSubsystemConfiguration acceptableError(double error) {
      *
      * @param rotationUnit The angle unit to use for calculations
      */
-    public PositionalMotorSubsystemConfiguration rotationUnit(AngleUnit rotationUnit) {
+    public MotorSubsystemConfiguration rotationUnit(AngleUnit rotationUnit) {
       startingPosition = rotationUnit.convertFrom(startingPosition, this.rotationUnit);
       this.rotationUnit = rotationUnit;
       return this;
     }
 
-    public PositionalMotorSubsystemConfiguration publishTo(NetworkTableInstance ntInstance) {
+    public MotorSubsystemConfiguration publishTo(NetworkTableInstance ntInstance) {
       this.ntInstance = ntInstance;
       return this;
     }

From 4a94d3dac316b1d497f7128a5f0d5cf7be50efdd Mon Sep 17 00:00:00 2001
From: spderman3333 <stefan.v.dikov@gmail.com>
Date: Mon, 13 Oct 2025 14:30:21 -0700
Subject: [PATCH 3/7] I wish spotless was automatic

---
 .../main/java/com/team2813/lib2813/control/Motor.java  |  4 +---
 .../lib2813/control/motors/SparkMaxWrapper.java        |  4 ++--
 .../lib2813/control/motors/TalonFXWrapper.java         | 10 +++++++---
 3 files changed, 10 insertions(+), 8 deletions(-)

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 c73bca6f..80bad2c5 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/Motor.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/Motor.java
@@ -30,8 +30,6 @@ public interface Motor {
    */
   Current getAppliedCurrent();
 
-  /**
-   * Stops the motor.
-   */
+  /** 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 073594e8..b1ccc032 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
@@ -83,8 +83,8 @@ public Current getAppliedCurrent() {
   }
 
   /**
-   * WARNING: due to the end of support of SparkMaxWrapper, there is no evidence that this method will work.
-   *  Proceed with caution!
+   * WARNING: due to the end of support of SparkMaxWrapper, there is no evidence that this method
+   * will work. Proceed with caution!
    */
   @Override
   public void disable() {
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 08c10542..ec6cc48b 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
@@ -163,11 +163,14 @@ public TalonFX motor() {
   }
 
   /**
-   * Sets the behavior the motor should exhibit upon receiving a request to stop: "<i>disable()</i>".
+   * Sets the behavior the motor should exhibit upon receiving a request to stop:
+   * "<i>disable()</i>".
+   *
    * <ul>
-   *   <li>Coast: The motor stops applying an input, but continues to move with its inertia.</li>
-   *   <li>Brake: The motor stops applying an input, and actively opposes its inertia.</li>
+   *   <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) {
@@ -176,6 +179,7 @@ public void setNeutralMode(NeutralModeValue mode) {
 
   /**
    * Sends a disable command to the motor, placing it in its neutral value.
+   *
    * @see TalonFXWrapper#setNeutralMode(NeutralModeValue)
    */
   @Override

From f3e542af184cd129cf783f7fe9968f3dc52f78b4 Mon Sep 17 00:00:00 2001
From: spderman3333 <stefan.v.dikov@gmail.com>
Date: Mon, 13 Oct 2025 14:35:16 -0700
Subject: [PATCH 4/7] Removed unnessesary deprecation.

---
 .../com/team2813/lib2813/control/motors/SparkMaxWrapper.java   | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

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 b1ccc032..0a9b1e81 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
@@ -20,7 +20,6 @@
 import java.util.ArrayList;
 import java.util.List;
 
-@Deprecated(forRemoval = true) // We likely wont use sparkmax's ever again.
 public class SparkMaxWrapper implements PIDMotor {
   private final List<SparkMax> followers = new ArrayList<>();
   private final SparkBase motor;
@@ -88,7 +87,7 @@ public Current getAppliedCurrent() {
    */
   @Override
   public void disable() {
-    motor.disable();
+    motor.stopMotor();
   }
 
   @Override

From 3305d278dec09b74555889aa63917bbb8f80815d Mon Sep 17 00:00:00 2001
From: spderman3333 <stefan.v.dikov@gmail.com>
Date: Mon, 13 Oct 2025 15:22:59 -0700
Subject: [PATCH 5/7] Removed discord.xml, an unnesessary file, and added it to
 gitignore in .idea

---
 .idea/.gitignore  |  1 +
 .idea/discord.xml | 14 --------------
 2 files changed, 1 insertion(+), 14 deletions(-)
 delete mode 100644 .idea/discord.xml

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/discord.xml b/.idea/discord.xml
deleted file mode 100644
index 912db825..00000000
--- a/.idea/discord.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="DiscordProjectSettings">
-    <option name="show" value="PROJECT_FILES" />
-    <option name="description" value="" />
-    <option name="applicationTheme" value="default" />
-    <option name="iconsTheme" value="default" />
-    <option name="button1Title" value="" />
-    <option name="button1Url" value="" />
-    <option name="button2Title" value="" />
-    <option name="button2Url" value="" />
-    <option name="customApplicationId" value="" />
-  </component>
-</project>
\ No newline at end of file

From 8086eded1947be75752a1ee7cb97bdb9b9ecdab1 Mon Sep 17 00:00:00 2001
From: spderman3333 <stefan.v.dikov@gmail.com>
Date: Mon, 13 Oct 2025 15:27:14 -0700
Subject: [PATCH 6/7] Refactored some javadocs.

---
 .../com/team2813/lib2813/control/motors/SparkMaxWrapper.java  | 4 ----
 .../com/team2813/lib2813/control/motors/TalonFXWrapper.java   | 3 ++-
 2 files changed, 2 insertions(+), 5 deletions(-)

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 0a9b1e81..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
@@ -81,10 +81,6 @@ public Current getAppliedCurrent() {
     return Units.Amps.of(motor.getOutputCurrent());
   }
 
-  /**
-   * WARNING: due to the end of support of SparkMaxWrapper, there is no evidence that this method
-   * will work. Proceed with caution!
-   */
   @Override
   public void disable() {
     motor.stopMotor();
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 ec6cc48b..33a585d9 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;
@@ -164,7 +165,7 @@ public TalonFX motor() {
 
   /**
    * Sets the behavior the motor should exhibit upon receiving a request to stop:
-   * "<i>disable()</i>".
+   * {@link MotorSubsystem#disable()}
    *
    * <ul>
    *   <li>Coast: The motor stops applying an input, but continues to move with its inertia.

From 63e173b407c89a75c0e2f184f38e7200f863b0ce Mon Sep 17 00:00:00 2001
From: spderman3333 <stefan.v.dikov@gmail.com>
Date: Mon, 13 Oct 2025 15:31:36 -0700
Subject: [PATCH 7/7] Spotless

---
 .idea/compiler.xml                            | 22 +++++++++++++++++++
 .../control/motors/TalonFXWrapper.java        |  4 ++--
 2 files changed, 24 insertions(+), 2 deletions(-)

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/motors/TalonFXWrapper.java b/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
index 33a585d9..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
@@ -164,8 +164,8 @@ public TalonFX motor() {
   }
 
   /**
-   * Sets the behavior the motor should exhibit upon receiving a request to stop:
-   * {@link MotorSubsystem#disable()}
+   * 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.