diff --git a/wpilibc/wpilibC++/include/CANJaguar.h b/wpilibc/wpilibC++/include/CANJaguar.h
index 78e20503c7..38e0e4b253 100644
--- a/wpilibc/wpilibC++/include/CANJaguar.h
+++ b/wpilibc/wpilibC++/include/CANJaguar.h
@@ -227,6 +227,8 @@ protected:
 	bool m_receivedStatusMessage1;
 	bool m_receivedStatusMessage2;
 
+	bool m_controlEnabled;
+
 	void verify();
 
 	MotorSafetyHelper *m_safetyHelper;
diff --git a/wpilibc/wpilibC++/lib/CANJaguar.cpp b/wpilibc/wpilibC++/lib/CANJaguar.cpp
index fee23da553..a0377e3f7a 100644
--- a/wpilibc/wpilibC++/lib/CANJaguar.cpp
+++ b/wpilibc/wpilibC++/lib/CANJaguar.cpp
@@ -294,57 +294,60 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup)
 	uint8_t dataBuffer[8];
 	uint8_t dataSize;
 
-	if (m_safetyHelper && !m_safetyHelper->IsAlive())
+	if(m_safetyHelper && !m_safetyHelper->IsAlive() && m_controlEnabled)
 	{
 		EnableControl();
 	}
 
-	switch(m_controlMode)
+	if(m_controlEnabled)
 	{
-	case kPercentVbus:
+		switch(m_controlMode)
 		{
-			messageID = LM_API_VOLT_T_SET;
-			if (outputValue > 1.0) outputValue = 1.0;
-			if (outputValue < -1.0) outputValue = -1.0;
-			dataSize = packPercentage(dataBuffer, outputValue);
+		case kPercentVbus:
+			{
+				messageID = LM_API_VOLT_T_SET;
+				if (outputValue > 1.0) outputValue = 1.0;
+				if (outputValue < -1.0) outputValue = -1.0;
+				dataSize = packPercentage(dataBuffer, outputValue);
+			}
+			break;
+		case kSpeed:
+			{
+				messageID = LM_API_SPD_T_SET;
+				dataSize = packFXP16_16(dataBuffer, outputValue);
+			}
+			break;
+		case kPosition:
+			{
+				messageID = LM_API_POS_T_SET;
+				dataSize = packFXP16_16(dataBuffer, outputValue);
+			}
+			break;
+		case kCurrent:
+			{
+				messageID = LM_API_ICTRL_T_SET;
+				dataSize = packFXP8_8(dataBuffer, outputValue);
+			}
+			break;
+		case kVoltage:
+			{
+				messageID = LM_API_VCOMP_T_SET;
+				dataSize = packFXP8_8(dataBuffer, outputValue);
+			}
+			break;
+		default:
+			return;
 		}
-		break;
-	case kSpeed:
+		if (syncGroup != 0)
 		{
-			messageID = LM_API_SPD_T_SET;
-			dataSize = packFXP16_16(dataBuffer, outputValue);
+			dataBuffer[dataSize] = syncGroup;
+			dataSize++;
 		}
-		break;
-	case kPosition:
-		{
-			messageID = LM_API_POS_T_SET;
-			dataSize = packFXP16_16(dataBuffer, outputValue);
-		}
-		break;
-	case kCurrent:
-		{
-			messageID = LM_API_ICTRL_T_SET;
-			dataSize = packFXP8_8(dataBuffer, outputValue);
-		}
-		break;
-	case kVoltage:
-		{
-			messageID = LM_API_VCOMP_T_SET;
-			dataSize = packFXP8_8(dataBuffer, outputValue);
-		}
-		break;
-	default:
-		return;
-	}
-	if (syncGroup != 0)
-	{
-		dataBuffer[dataSize] = syncGroup;
-		dataSize++;
-	}
 
-	sendMessage(messageID, dataBuffer, dataSize, kSendMessagePeriod);
+		sendMessage(messageID, dataBuffer, dataSize, kSendMessagePeriod);
 
-	if (m_safetyHelper) m_safetyHelper->Feed();
+		if (m_safetyHelper) m_safetyHelper->Feed();
+	}
 
 	m_value = outputValue;
 
@@ -682,7 +685,7 @@ void CANJaguar::verify()
 	}
 
 	// Verify that any recently set parameters are correct
-	if(!m_controlModeVerified)
+	if(!m_controlModeVerified && m_controlEnabled)
 	{
 		if(getMessage(LM_API_STATUS_CMODE, CAN_MSGID_FULL_M, dataBuffer, &dataSize))
 		{
@@ -1305,6 +1308,7 @@ void CANJaguar::EnableControl(double encoderInitialPosition)
 		break;
 	}
 
+	m_controlEnabled = true;
 	m_controlModeVerified = false;
 }
 
@@ -1332,10 +1336,12 @@ void CANJaguar::DisableControl()
 	case kCurrent:
 		sendMessage(LM_API_ICTRL_DIS, dataBuffer, dataSize);
 		break;
-case kVoltage:
+	case kVoltage:
 		sendMessage(LM_API_VCOMP_DIS, dataBuffer, dataSize);
 		break;
 	}
+
+	m_controlEnabled = false;
 }
 
 /**
diff --git a/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
index a7bfcb9cb9..f59ec78a57 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
@@ -134,6 +134,25 @@ TEST_F(CANJaguarTest, InitialStatus) {
 		<< "Jaguar has one or more fault set.";
 }
 
+/**
+ * Ensure that the jaguar doesn't move when it's disabled
+ */
+TEST_F(CANJaguarTest, Disable) {
+	m_jaguar->SetPercentMode(CANJaguar::QuadEncoder, 360);
+	m_jaguar->EnableControl();
+	m_jaguar->DisableControl();
+
+	double initialPosition = m_jaguar->GetPosition();
+	
+	SetJaguar(kMotorTime, 1.0f);
+	m_jaguar->Set(0.0f);
+
+	double finalPosition = m_jaguar->GetPosition();
+
+	EXPECT_NEAR(initialPosition, finalPosition, kEncoderPositionTolerance)
+		<< "Jaguar moved while disabled";
+}
+
 /**
  * Make sure the Jaguar keeps its state after a power cycle by setting a
  * control mode, turning the spike on and off, then checking if the Jaguar
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
index f4290ecd77..aac31d8b38 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
@@ -301,45 +301,47 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 		byte[] data = new byte[8];
 		byte dataSize;
 
-		switch(m_controlMode) {
-		case PercentVbus:
-			messageID = CANJNI.LM_API_VOLT_T_SET;
-			dataSize = packPercentage(data, outputValue);
-			break;
+		if(m_controlEnabled) {
+			switch(m_controlMode) {
+			case PercentVbus:
+				messageID = CANJNI.LM_API_VOLT_T_SET;
+				dataSize = packPercentage(data, outputValue);
+				break;
 
-		case Speed:
-			messageID = CANJNI.LM_API_SPD_T_SET;
-			dataSize = packFXP16_16(data, outputValue);
-			break;
+			case Speed:
+				messageID = CANJNI.LM_API_SPD_T_SET;
+				dataSize = packFXP16_16(data, outputValue);
+				break;
 
-		case Position:
-			messageID = CANJNI.LM_API_POS_T_SET;
-			dataSize = packFXP16_16(data, outputValue);
-			break;
+			case Position:
+				messageID = CANJNI.LM_API_POS_T_SET;
+				dataSize = packFXP16_16(data, outputValue);
+				break;
 
-		case Current:
-			messageID = CANJNI.LM_API_ICTRL_T_SET;
-			dataSize = packFXP8_8(data, outputValue);
-			break;
+			case Current:
+				messageID = CANJNI.LM_API_ICTRL_T_SET;
+				dataSize = packFXP8_8(data, outputValue);
+				break;
 
 
-		case Voltage:
-			messageID = CANJNI.LM_API_VCOMP_T_SET;
-			dataSize = packFXP8_8(data, outputValue);
-			break;
+			case Voltage:
+				messageID = CANJNI.LM_API_VCOMP_T_SET;
+				dataSize = packFXP8_8(data, outputValue);
+				break;
 
-		default:
-			return;
+			default:
+				return;
+			}
+
+			if(syncGroup != 0) {
+				data[dataSize++] = syncGroup;
+			}
+
+			sendMessage(messageID, data, dataSize, kSendMessagePeriod);
+
+			if(m_safetyHelper != null) m_safetyHelper.feed();
 		}
 
-		if(syncGroup != 0) {
-			data[dataSize++] = syncGroup;
-		}
-
-		sendMessage(messageID, data, dataSize, kSendMessagePeriod);
-
-		if(m_safetyHelper != null) m_safetyHelper.feed();
-
 		m_value = outputValue;
 
 		verify();
@@ -429,15 +431,13 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 						getMessage(message, CANJNI.CAN_MSGID_FULL_M, data);
 					} catch (CANMessageNotFoundException e) {}
 				}
-
-				enableControl();
 			}
 		} catch(CANMessageNotFoundException e) {
 			requestMessage(CANJNI.LM_API_STATUS_POWER);
 		}
 
 		// Verify that any recently set parameters are correct
-		if(!m_controlModeVerified) {
+		if(!m_controlModeVerified && m_controlEnabled) {
 			try {
 				getMessage(CANJNI.LM_API_STATUS_CMODE, CANJNI.CAN_MSGID_FULL_M, data);
 
@@ -1012,6 +1012,8 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 			sendMessage(CANJNI.LM_API_VCOMP_T_EN, new byte[0], 0);
 			break;
 		}
+
+		m_controlEnabled = true;
 	}
 
 	/**
@@ -1052,6 +1054,8 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 			sendMessage(CANJNI.LM_API_VCOMP_DIS, new byte[0], 0);
 			break;
 		}
+
+		m_controlEnabled = false;
 	}
 
 	/**
@@ -1731,6 +1735,8 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 
 	static final int kReceiveStatusAttempts = 50;
 
+	boolean m_controlEnabled = true;
+
 	static void sendMessageHelper(int messageID, byte[] data, int dataSize, int period) throws CANMessageNotFoundException {
 		final int[] kTrustedMessages = {
 				CANJNI.LM_API_VOLT_T_EN, CANJNI.LM_API_VOLT_T_SET, CANJNI.LM_API_SPD_T_EN, CANJNI.LM_API_SPD_T_SET,