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.
The whole point of the Motor Safety feature is to stop the motors if you don’t set them often enough. If you disable the Motor Safety, that does not disable the motors, it disables the safety… i.e. the motors will continue to run even if you don’t update them often enough.
I couldn’t tell from your post if you were considering disabling the robot or E-Stopping the robot as options for stopping the motors.