is this possible?
Do you mean switching to break from coast such as the victors?
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.
Only connect the center pin, don’t conect the +/- on the break/coast header to anything on the side car. It is also possible to switch between Break and Coast in software using CAN without the additional digital output.