diff --git a/doc/api/ev3devices.rst b/doc/api/ev3devices.rst
index 189d290..04654e4 100644
--- a/doc/api/ev3devices.rst
+++ b/doc/api/ev3devices.rst
@@ -18,10 +18,16 @@ Motor
 
     .. automethod:: pybricks.ev3devices.Motor.reset_angle
 
-    .. rubric:: Action
+    .. rubric:: Stopping
 
     .. automethod:: pybricks.ev3devices.Motor.stop
 
+    .. automethod:: pybricks.ev3devices.Motor.brake
+
+    .. automethod:: pybricks.ev3devices.Motor.hold
+
+    .. rubric:: Action
+
     .. automethod:: pybricks.ev3devices.Motor.run
 
     .. automethod:: pybricks.ev3devices.Motor.run_time
diff --git a/doc/api/pupdevices.rst b/doc/api/pupdevices.rst
index 111a63a..a1fe9f0 100644
--- a/doc/api/pupdevices.rst
+++ b/doc/api/pupdevices.rst
@@ -17,6 +17,9 @@ Motors without Rotation Sensors
     .. automethod:: pybricks.builtins.DCMotor.stop
         :noindex:
 
+    .. automethod:: pybricks.builtins.DCMotor.brake
+        :noindex:
+
 Motors with Rotation Sensors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
@@ -32,10 +35,16 @@ Motors with Rotation Sensors
 
     .. automethod:: pybricks.pupdevices.Motor.reset_angle
 
-    .. rubric:: Action
+    .. rubric:: Stopping
 
     .. automethod:: pybricks.pupdevices.Motor.stop
 
+    .. automethod:: pybricks.pupdevices.Motor.brake
+
+    .. automethod:: pybricks.pupdevices.Motor.hold
+
+    .. rubric:: Action
+
     .. automethod:: pybricks.pupdevices.Motor.run
 
     .. automethod:: pybricks.pupdevices.Motor.run_time
diff --git a/pybricks/builtins.py b/pybricks/builtins.py
index 693e3cc..e25e776 100644
--- a/pybricks/builtins.py
+++ b/pybricks/builtins.py
@@ -30,12 +30,17 @@ class DCMotor:
         """
         pass
 
-    def stop(self, stop_type=Stop.COAST):
-        """Stop the motor.
+    def stop(self):
+        """Stop the motor and let it spin freely.
 
-        Arguments:
-            stop_type (Stop): Whether to coast or brake the motor.
-        """
+        The motor gradually stops due to friction."""
+        pass
+
+    def brake(self):
+        """Passively brake the motor.
+
+        The motor stops due to friction, plus the voltage that
+        is generated while the motor is still moving."""
         pass
 
 
@@ -194,12 +199,8 @@ class Motor(DCMotor):
         """
         pass
 
-    def stop(self, stop_type=Stop.COAST):
-        """Stop the motor.
-
-        Arguments:
-            stop_type (Stop): Whether to coast, brake, or hold.
-        """
+    def hold(self):
+        """Stop the motor and actively hold it at its current angle."""
         pass
 
     def run(self, speed):
diff --git a/pybricks/robotics.py b/pybricks/robotics.py
index 86bc9b5..7d61de2 100644
--- a/pybricks/robotics.py
+++ b/pybricks/robotics.py
@@ -3,7 +3,6 @@
 
 """Robotics module for the Pybricks API."""
 
-from .parameters import Stop
 from .builtins import Control
 
 
@@ -46,12 +45,8 @@ class DriveBase:
         """
         pass
 
-    def stop(self, stop_type=Stop.COAST):
-        """Stop the robot.
-
-        Arguments:
-            stop_type (Stop): Whether to coast, brake, or hold.
-        """
+    def stop(self):
+        """Stop the robot by coasting the motors."""
         pass
 
     def distance(self):