Fixed the disable method in MotorSubystem (now called PositionalMotor…

.gitignore

@@ -132,3 +132,4 @@ fabric.properties
 
 # Exclude local preference files generated by VSCode editors.
 .vscode/
+.idea/

lib/src/main/java/com/team2813/lib2813/control/Motor.java

@@ -29,4 +29,12 @@ public interface Motor {
    * @return The current applied current
    */
   Current getAppliedCurrent();
+
+  /** Stops the motor. */
+  void disable();
+
+  /** Stops the motor. */
+  default void stopMotor() {
+    disable();
+  }
 }

lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java

@@ -20,6 +20,11 @@
 import java.util.ArrayList;
 import java.util.List;
 
+/**
+ * Wrapper class for SparkMax brushed and brushless motor controllers. Deprecated as we will likely
+ * not use SparkMaxes again.
+ */
+@Deprecated(forRemoval = true)
 public class SparkMaxWrapper implements PIDMotor {
   private final List<SparkMax> followers = new ArrayList<>();
   private final SparkBase motor;
@@ -81,6 +86,15 @@ 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.stopMotor();
+  }
+
   @Override
   public void setPosition(double position) {
     encoder.setPosition(position);

lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java

@@ -162,10 +162,31 @@ 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>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();