[Joe Ross]

We've had several times that we've had software break the robot, however, those weren't planned. I'm not sure why you'd purposely program a break mode in the software. Some suggestions are to drive a forklift past it's full extension, drive an arm into the ground, drive full speed into a wall, rotate your swerve drive modules too many times, etc.

To cause a speed controller to switch between brake mode and coast, you can connect one of the digital outputs on the digital side car to the middle pin of the brake/coast header.