From e884221a8d9b9697cee617ffda59bb19c235c021 Mon Sep 17 00:00:00 2001
From: Brendan Raykoff <99614905+Braykoff@users.noreply.github.com>
Date: Tue, 18 Jun 2024 09:40:32 -0400
Subject: [PATCH] [wpilib] Propagate PWMMotorController stopMotor() and
 disable() to followers (#6750)

---
 .../native/cpp/motorcontrol/PWMMotorController.cpp | 14 ++++++++++++++
 .../wpilibj/motorcontrol/PWMMotorController.java   |  8 ++++++++
 2 files changed, 22 insertions(+)

diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
index 924e4fd305..7e1666b57a 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
@@ -47,11 +47,25 @@ bool PWMMotorController::GetInverted() const {
 
 void PWMMotorController::Disable() {
   m_pwm.SetDisabled();
+
+  for (auto& follower : m_nonowningFollowers) {
+    follower->Disable();
+  }
+  for (auto& follower : m_owningFollowers) {
+    follower->Disable();
+  }
 }
 
 void PWMMotorController::StopMotor() {
   // Don't use Set(0) as that will feed the watch kitty
   m_pwm.SetSpeed(0);
+
+  for (auto& follower : m_nonowningFollowers) {
+    follower->StopMotor();
+  }
+  for (auto& follower : m_owningFollowers) {
+    follower->StopMotor();
+  }
 }
 
 std::string PWMMotorController::GetDescription() const {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
index b72cee344f..cfb691df34 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
@@ -88,12 +88,20 @@ public abstract class PWMMotorController extends MotorSafety
   @Override
   public void disable() {
     m_pwm.setDisabled();
+
+    for (var follower : m_followers) {
+      follower.disable();
+    }
   }
 
   @Override
   public void stopMotor() {
     // Don't use set(0) as that will feed the watch kitty
     m_pwm.setSpeed(0);
+
+    for (var follower : m_followers) {
+      follower.stopMotor();
+    }
   }
 
   @Override