With this years design involving a shooter for wiffle balls, we would really like to be able to float the motors when the program is stopped at the end of the match. With the current setup the motors stop abrubtly and eventually damage the gearboxes on the motors. Is it possible to have custom shutdown code run at the end of a match (the end of autonomous would be good also)? Or is it at least possible to set the bFloatDuringInactiveMotorPWM to apply to either individual motors or individual motor controllers? All we really need for the custom shutdown code would be to set the motors to float before stopping them. When we set bFloatDuringInactiveMotorPWM for the entire TeleOp program, the programmer complained that the motors performed very erratically and did not operate the same as with the motors braked (directions seemed to change among other things).

The flag needs to be set prior to each motor being set to take effect.
You could internally create a timer task that would flip the flag & set each motor just before two minutes is up. Not very clean, but a possibility.
The problem is that the FCS kills your running program; so I cannot think of a better way to trigger an end-of-match event to coast the motors.