diff --git a/wpilibc/src/main/native/cpp/NidecBrushless.cpp b/wpilibc/src/main/native/cpp/NidecBrushless.cpp
index bd9ce72ecd..e81bfe4395 100644
--- a/wpilibc/src/main/native/cpp/NidecBrushless.cpp
+++ b/wpilibc/src/main/native/cpp/NidecBrushless.cpp
@@ -30,9 +30,6 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
   m_dio.SetPWMRate(15625);
   m_dio.EnablePWM(0.5);
 
-  // the pwm enables the controller
-  m_pwm.SetRaw(0xffff);
-
   LiveWindow::GetInstance()->AddActuator("Nidec Brushless", pwmChannel, this);
   HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel);
 }
@@ -46,8 +43,11 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
  * @param speed The speed value between -1.0 and 1.0 to set.
  */
 void NidecBrushless::Set(double speed) {
-  m_speed = speed;
-  m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
+  if (!m_disabled) {
+    m_speed = speed;
+    m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
+    m_pwm.SetRaw(0xffff);
+  }
   m_safetyHelper.Feed();
 }
 
@@ -97,9 +97,13 @@ bool NidecBrushless::IsAlive() const { return m_safetyHelper.IsAlive(); }
 
 /**
  * Stop the motor. This is called by the MotorSafetyHelper object when it has a
- * timeout for this PWM and needs to stop it from running.
+ * timeout for this PWM and needs to stop it from running. Calling Set() will
+ * re-enable the motor.
  */
-void NidecBrushless::StopMotor() { Disable(); }
+void NidecBrushless::StopMotor() {
+  m_dio.UpdateDutyCycle(0.5);
+  m_pwm.SetDisabled();
+}
 
 /**
  * Check if motor safety is enabled.
@@ -118,7 +122,21 @@ void NidecBrushless::GetDescription(llvm::raw_ostream& desc) const {
   desc << "Nidec " << GetChannel();
 }
 
-void NidecBrushless::Disable() { m_dio.UpdateDutyCycle(0.5); }
+/**
+ * Disable the motor.  The Enable() function must be called to re-enable
+ * the motor.
+ */
+void NidecBrushless::Disable() {
+  m_disabled = true;
+  m_dio.UpdateDutyCycle(0.5);
+  m_pwm.SetDisabled();
+}
+
+/**
+ * Re-enable the motor after Disable() has been called.  The Set()
+ * function must be called to set a new motor speed.
+ */
+void NidecBrushless::Enable() { m_disabled = false; }
 
 /**
  * Gets the channel number associated with the object.
diff --git a/wpilibc/src/main/native/include/NidecBrushless.h b/wpilibc/src/main/native/include/NidecBrushless.h
index b6dcd82242..9a80da5a70 100644
--- a/wpilibc/src/main/native/include/NidecBrushless.h
+++ b/wpilibc/src/main/native/include/NidecBrushless.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <atomic>
 #include <memory>
 #include <string>
 
@@ -38,6 +39,8 @@ class NidecBrushless : public SpeedController,
   void Disable() override;
   void StopMotor() override;
 
+  void Enable();
+
   // PIDOutput interface
   void PIDWrite(double output) override;
 
@@ -63,6 +66,7 @@ class NidecBrushless : public SpeedController,
  private:
   MotorSafetyHelper m_safetyHelper;
   bool m_isInverted = false;
+  std::atomic_bool m_disabled{false};
   DigitalOutput m_dio;
   PWM m_pwm;
   double m_speed = 0.0;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
index 98980b1330..405ca014b7 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
@@ -24,6 +24,7 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
   private DigitalOutput m_dio;
   private PWM m_pwm;
   private volatile double m_speed = 0.0;
+  private volatile boolean m_disabled = false;
 
   /**
    * Constructor.
@@ -45,7 +46,6 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
 
     // the pwm enables the controller
     m_pwm = new PWM(pwmChannel);
-    m_pwm.setRaw(0xffff);
 
     LiveWindow.addActuator("Nidec Brushless", pwmChannel, this);
     HAL.report(tResourceType.kResourceType_NidecBrushless, pwmChannel);
@@ -61,8 +61,11 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
    */
   @Override
   public void set(double speed) {
-    m_speed = speed;
-    m_dio.updateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
+    if (!m_disabled) {
+      m_speed = speed;
+      m_dio.updateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
+      m_pwm.setRaw(0xffff);
+    }
     m_safetyHelper.feed();
   }
 
@@ -129,10 +132,12 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
   /**
    * Stop the motor. This is called by the MotorSafetyHelper object
    * when it has a timeout for this PWM and needs to stop it from running.
+   * Calling set() will re-enable the motor.
    */
   @Override
   public void stopMotor() {
-    disable();
+    m_dio.updateDutyCycle(0.5);
+    m_pwm.setDisabled();
   }
 
   /**
@@ -155,9 +160,23 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
     return "Nidec " + getChannel();
   }
 
+  /**
+   * Disable the motor.  The enable() function must be called to re-enable
+   * the motor.
+   */
   @Override
   public void disable() {
+    m_disabled = true;
     m_dio.updateDutyCycle(0.5);
+    m_pwm.setDisabled();
+  }
+
+  /**
+   * Re-enable the motor after disable() has been called.  The set()
+   * function must be called to set a new motor speed.
+   */
+  public void enable() {
+    m_disabled = false;
   }
 
   /**