diff --git a/wpilibc/Athena/include/CANJaguar.h b/wpilibc/Athena/include/CANJaguar.h
index 03637df147..c456e2aa69 100644
--- a/wpilibc/Athena/include/CANJaguar.h
+++ b/wpilibc/Athena/include/CANJaguar.h
@@ -230,6 +230,7 @@ class CANJaguar : public MotorSafety,
   mutable std::atomic<bool> m_receivedStatusMessage2{false};
 
   bool m_controlEnabled = false;
+  bool m_stopped = false;
 
   void verify();
 
diff --git a/wpilibc/Athena/include/CANTalon.h b/wpilibc/Athena/include/CANTalon.h
index b773c639be..2d866d197b 100644
--- a/wpilibc/Athena/include/CANTalon.h
+++ b/wpilibc/Athena/include/CANTalon.h
@@ -437,6 +437,7 @@ class CANTalon : public MotorSafety,
                   // actually test this.
 
   bool m_controlEnabled = true;
+  bool m_stopped = false;
   ControlMode m_controlMode = kPercentVbus;
   TalonControlMode m_sendMode;
 
diff --git a/wpilibc/Athena/src/CANJaguar.cpp b/wpilibc/Athena/src/CANJaguar.cpp
index 2d63fc9a85..c267cd5aae 100644
--- a/wpilibc/Athena/src/CANJaguar.cpp
+++ b/wpilibc/Athena/src/CANJaguar.cpp
@@ -246,8 +246,11 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup) {
   uint8_t dataBuffer[8];
   uint8_t dataSize;
 
-  if (m_safetyHelper && !m_safetyHelper->IsAlive() && m_controlEnabled) {
+  if (m_safetyHelper) m_safetyHelper->Feed();
+  
+  if (m_stopped) {
     EnableControl();
+	m_stopped = false;
   }
 
   if (m_controlEnabled) {
@@ -290,8 +293,6 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup) {
     }
 
     sendMessage(messageID, dataBuffer, dataSize, kSendMessagePeriod);
-
-    if (m_safetyHelper) m_safetyHelper->Feed();
   }
 
   m_value = outputValue;
@@ -1934,12 +1935,14 @@ void CANJaguar::GetDescription(std::ostringstream& desc) const {
 uint8_t CANJaguar::GetDeviceID() const { return m_deviceNumber; }
 
 /**
- * Common interface for stopping the motor
+ * Common interface for stopping the motor until the next Set() command
  * Part of the MotorSafety interface
  *
  * @deprecated Call DisableControl instead.
  */
-void CANJaguar::StopMotor() { DisableControl(); }
+void CANJaguar::StopMotor() {
+	m_stopped = true;
+}
 
 /**
 * Common interface for inverting direction of a speed controller.
diff --git a/wpilibc/Athena/src/CANTalon.cpp b/wpilibc/Athena/src/CANTalon.cpp
index d553fdd449..2198eda08d 100644
--- a/wpilibc/Athena/src/CANTalon.cpp
+++ b/wpilibc/Athena/src/CANTalon.cpp
@@ -134,6 +134,12 @@ float CANTalon::Get() const {
 void CANTalon::Set(float value, uint8_t syncGroup) {
   /* feed safety helper since caller just updated our output */
   m_safetyHelper->Feed();
+  
+  if (m_stopped) {
+    EnableControl();
+	m_stopped = false;
+  }
+  
   if (m_controlEnabled) {
     m_setPoint = value;  /* cache set point for GetSetpoint() */
     CTR_Code status = CTR_OKAY;
@@ -1825,12 +1831,15 @@ void CANTalon::SetInverted(bool isInverted) { m_isInverted = isInverted; }
 bool CANTalon::GetInverted() const { return m_isInverted; }
 
 /**
- * Common interface for stopping the motor
+ * Common interface for stopping the motor until the next Set() call
  * Part of the MotorSafety interface
  *
  * @deprecated Call Disable instead.
 */
-void CANTalon::StopMotor() { Disable(); }
+void CANTalon::StopMotor() { 
+	Disable();
+	m_stopped = true;
+}
 
 void CANTalon::ValueChanged(ITable* source, llvm::StringRef key,
                             std::shared_ptr<nt::Value> value, bool isNew) {
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
index c0ad46dad1..9b013c8456 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
@@ -375,6 +375,15 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
     byte[] data = new byte[8];
     byte dataSize;
 
+	if (m_safetyHelper != null)
+        m_safetyHelper.feed();
+	
+	if (m_stopped)
+	{
+		enableControl();
+		m_stopped = false;
+	}
+	
     if (m_controlEnabled) {
       switch (m_controlMode) {
         case PercentVbus:
@@ -412,9 +421,6 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
       }
 
       sendMessage(messageID, data, dataSize, kSendMessagePeriod);
-
-      if (m_safetyHelper != null)
-        m_safetyHelper.feed();
     }
 
     m_value = outputValue;
@@ -1890,6 +1896,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
   static final int kReceiveStatusAttempts = 50;
 
   boolean m_controlEnabled = true;
+  boolean m_stopped = false;
 
   static void sendMessageHelper(int messageID, byte[] data, int dataSize, int period)
       throws CANMessageNotFoundException {
@@ -2247,6 +2254,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
   @Deprecated
   public void stopMotor() {
     disableControl();
+	m_stopped = true;
   }
 
   /*
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
index 73acefd88a..09bc46f0f1 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -284,6 +284,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
 
   int m_deviceNumber;
   boolean m_controlEnabled;
+  boolean m_stopped = false;
   int m_profile;
 
   double m_setPoint;
@@ -423,6 +424,11 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
   public void set(double outputValue) {
     /* feed safety helper since caller just updated our output */
     m_safetyHelper.feed();
+	if(m_stopped)
+	{
+		enableControl();
+		m_stopped = false;
+	}
     if (m_controlEnabled) {
       m_setPoint = outputValue; /* cache set point for getSetpoint() */
       switch (m_controlMode) {
@@ -1215,6 +1221,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
   @Deprecated
   public void stopMotor() {
     disableControl();
+	m_stopped = true;
   }
 
   @Override