typedef struct MPIMotorBrake {
    MPIMotorBrakeMode   mode;
    float               enableDelay;
    float               disableDelay;

} MPIMotorBrake;

MotorBrake allows the ability to enable and disable a brake when the motor's amp enable output is enabled or disabled.

The reason for this is easiest to imagine on a vertical axis of motion: If you release the brake before enabling servo control on a vertical axis, the axis will not be controlled and will fall under the influence of gravity. Likewise, when setting a brake on a vertical axis, you want to set the brake before turning off the amplifier so that no motion occurs when disabling the servo control.

NOTE: the only output capable of being used for a brake is the USER I/O 0 output of the motor.

Specifies whether a brake is to be tied to the motor's amp enable output.

The amount of time the brake is enabled before servo control is disabled.

NOTE: the brake is enabled immediately, the delay is for servo control.