diff --git a/wpilibc/wpilibC++Devices/src/RobotDrive.cpp b/wpilibc/wpilibC++Devices/src/RobotDrive.cpp
index ab6ccddb49..ffa8b31cb7 100644
--- a/wpilibc/wpilibC++Devices/src/RobotDrive.cpp
+++ b/wpilibc/wpilibC++Devices/src/RobotDrive.cpp
@@ -735,4 +735,5 @@ void RobotDrive::StopMotor()
 	if (m_frontRightMotor != NULL) m_frontRightMotor->Disable();
 	if (m_rearLeftMotor != NULL) m_rearLeftMotor->Disable();
 	if (m_rearRightMotor != NULL) m_rearRightMotor->Disable();
+	m_safetyHelper->Feed();
 }
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
index 1cefc9b79b..aefdd272d0 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
@@ -739,6 +739,7 @@ public class RobotDrive implements MotorSafety {
         if (m_rearRightMotor != null) {
             m_rearRightMotor.set(0.0);
         }
+        if (m_safetyHelper != null) m_safetyHelper.feed();
     }
 
     private void setupMotorSafety() {