package edu.wpi.first.wpilibj;

public class PWMObserver {
	private int channel;
	private boolean inverted = false;
	public PWMObserver(int channel) {
		this.channel = channel;
	}
	
	public double get() {
		double ret = 0;
		
		PWM temp = PWMStore.getPWM(channel);
		
		if (temp != null) {
			ret = temp.getSpeed() * (inverted ? -1.0 : 1.0);
		}
		
		return ret;
		
	}
	
	public void setInvertedMotor(boolean inverted) {
		this.inverted = inverted;
	}
	
	public boolean exists() {
		return PWMStore.exists(channel);
	}
}

@@ -219,16 +219,84 @@
 = 0;%0A%09%09%0A
+%09%09if (!DriverStation.getInstance().isEnabled()) %7B%0A%09%09%09return 0;%0A%09%09%7D%0A%0A
 %09%09PWM te

Disable PWMs when robot is disabled