Look into coast mode vs brake mode for SPARK MAX controllers

[mcarr424]

• I’m thinking that when we’re enabled and driving, we definitely want to be in brake mode
  • This is how we’ll operate in competition, as we don’t want other bots to be able to push us around
  • During a demo, we don’t want the bot to “coast”, as that could cause it to roll further than intended, hit someone/something, etc.
• However, when the bot is powered but NOT enabled, I think having it in coast mode would be nice, so that we can push it around more easily if we need to.
  • Are there unintended consequences of this?
    • Some motors generate back current if you rotate them by hand. Could we end up damaging electrical components?
    • Other concerns?
• Is it possible to configure the SPARK MAX’s such that they are in coast mode by default, but are flipped to brake mode when we enable the robot?”
• This is truly a “nice to have”, and thus very low priority

[mcarr424]

Link below has some code for how to do this
https://github.com/bovlb/frc-tips/tree/main/coast-mode