SDS Code - How to get current and requested state values

We are using SDS’s mk3 template, but I am having trouble trying to find a way to get the current state and the state the modules are being set to. I want to be able to do this in order to make the wheels not snap back to the zero position when the controller is not being used similar to how Zero To Autonomous does here. I want to do this not only to remove some unneedd load on our motors and so it does not twist around and destroy floors at our school and at comps. I was looking through the SDS lib files to try to find the functions to get that info, but had no luck. Here is our current build which includes the SDSlib com/ file if it helps.