From e4ac09077c20e56404d57a092fe8a0370b7f0a18 Mon Sep 17 00:00:00 2001
From: Starlight220 <53231611+Starlight220@users.noreply.github.com>
Date: Mon, 28 Nov 2022 02:23:06 +0200
Subject: [PATCH] [wpilib] Add link to MotorSafety article (#4720)

---
 wpilibc/src/main/native/cpp/MotorSafety.cpp                  | 4 +++-
 wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java | 5 ++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/wpilibc/src/main/native/cpp/MotorSafety.cpp b/wpilibc/src/main/native/cpp/MotorSafety.cpp
index 259722c487..0395d707c6 100644
--- a/wpilibc/src/main/native/cpp/MotorSafety.cpp
+++ b/wpilibc/src/main/native/cpp/MotorSafety.cpp
@@ -159,7 +159,9 @@ void MotorSafety::Check() {
   }
 
   if (stopTime < Timer::GetFPGATimestamp()) {
-    FRC_ReportError(err::Timeout, "{}... Output not updated often enough",
+    FRC_ReportError(err::Timeout,
+                    "{}... Output not updated often enough. See "
+                    "https://docs.wpilib.org/motorsafety for more information.",
                     GetDescription());
 
     try {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java
index a6b50b1ec7..dbdbafe793 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java
@@ -96,7 +96,10 @@ public abstract class MotorSafety {
     }
 
     if (stopTime < Timer.getFPGATimestamp()) {
-      DriverStation.reportError(getDescription() + "... Output not updated often enough.", false);
+      DriverStation.reportError(
+          getDescription()
+              + "... Output not updated often enough. See https://docs.wpilib.org/motorsafety for more information.",
+          false);
 
       stopMotor();
     }