[MagiChau]

For the IterativeRobot I decided to force the robot to stop if it is in disabled mode or if the motorsafety gets disabled/timeout.

First of all, will motorsafety automatically shutdown motors if it isn't fed or enabled? If so then I probably should remove my lines telling the motors to stop.

Secondly, does it really matter which way you stop the robot? For instance, there are two different ways I know of to stop the robot. use the stopMotor method or tell the motors to move at a speed of 0 and turn of 0. If the stopMotor does not now allow you to use the motors until the robot is reset then I would use the method of setting the motor to speed and turn 0.