How to enable brake mode on Falcon 500 for endgame

We have falcon 500’s on our KOP drivetrain and like the driving characteristics of them not being in brake mode during teleop. For endgame with the charge station, we would like to have the talons I’m brake mode, especially as time goes to zero.

Does anyone know if there is a command in java that allows us to change that so we can have a button on the drive station programmed to enable brake mode and for it to stay enabled after time goes to zero?

Thank you for that! Is there possiblity of damaging the motors while switching?


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