Rename brakingmode to neutralmode

src/main/java/frc/robot/Main.java

@@ -7,17 +7,17 @@
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
- * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
- * you are doing, do not modify this file except to change the parameter class to the startRobot
- * call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what you are doing, do
+ * not modify this file except to change the parameter class to the startRobot call.
  */
 public final class Main {
   private Main() {}
 
   /**
    * Main initialization function. Do not perform any initialization here.
    *
-   * <p>If you change your main robot class, change the parameter type.
+   * <p>
+   * If you change your main robot class, change the parameter type.
    */
   public static void main(String... args) {
     RobotBase.startRobot(Robot::new);

src/main/java/frc/robot/commands/drive/ToggleBrakingModeCommand.java

@@ -24,7 +24,7 @@ public ToggleBrakingModeCommand(DriveBase driveBase) {
 
   @Override
   public void initialize() {
-    driveBase.toggleBrakingMode();
+    driveBase.toggleNeutralMode();
   }
 
   @Override

src/main/java/frc/robot/subsystems/DriveBase.java

@@ -110,7 +110,7 @@ public DriveBase(int leftFrontId, int leftBackId, int rightFrontId, int rightBac
     rightBackMotor.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor);
 
 
-    setBrakingMode(NeutralMode.Brake);
+    setNeutralMode(NeutralMode.Brake);
 
     differentialDrive =
         new LobstahDifferentialDrive(
@@ -130,24 +130,26 @@ public DriveBase(int leftFrontId, int leftBackId, int rightFrontId, int rightBac
   /**
    * Toggles the {@link NeutralMode} between Coast and Brake.
    */
-  public void toggleBrakingMode() {
+  public void toggleNeutralMode() {
     switch (motorNeutralMode) {
       case Brake:
-        setBrakingMode(NeutralMode.Coast);
+        setNeutralMode(NeutralMode.Coast);
         return;
       case Coast:
+        setNeutralMode(NeutralMode.Brake);
+        return;
       default:
-        setBrakingMode(NeutralMode.Brake);
+        setNeutralMode(NeutralMode.Brake);
         return;
     }
   }
 
   /**
-   * Sets the braking mode to the given {@link NeutralMode}.
+   * Sets the neutral mode to the given {@link NeutralMode}.
    *
    * @param mode The {@link NeutralMode} to set the motors to
    */
-  public void setBrakingMode(NeutralMode mode) {
+  public void setNeutralMode(NeutralMode mode) {
     leftFrontMotor.setNeutralMode(mode);
     leftBackMotor.setNeutralMode(mode);
     rightFrontMotor.setNeutralMode(mode);