From 1d5956a58ab540b59d0f70119b13585d2fc39887 Mon Sep 17 00:00:00 2001
From: Laurens Valk <laurens@pybricks.com>
Date: Mon, 28 Nov 2022 17:01:06 +0100
Subject: [PATCH] pybricks.parameters.Stop: Document COAST_SMART.

See https://github.com/pybricks/pybricks-api/issues/104
---
 doc/main/parameters/stop.rst | 3 +++
 src/pybricks/parameters.py   | 6 ++++++
 2 files changed, 9 insertions(+)

diff --git a/doc/main/parameters/stop.rst b/doc/main/parameters/stop.rst
index 50b5a2d..010c714 100644
--- a/doc/main/parameters/stop.rst
+++ b/doc/main/parameters/stop.rst
@@ -10,6 +10,9 @@ Stop
     .. autoattribute:: pybricks.parameters.Stop.COAST
         :annotation:
 
+    .. autoattribute:: pybricks.parameters.Stop.COAST_SMART
+        :annotation:
+
     .. autoattribute:: pybricks.parameters.Stop.BRAKE
         :annotation:
 
diff --git a/src/pybricks/parameters.py b/src/pybricks/parameters.py
index d6a301a..83aaa22 100644
--- a/src/pybricks/parameters.py
+++ b/src/pybricks/parameters.py
@@ -157,6 +157,12 @@ class Stop(_PybricksEnum):
     COAST: Stop = 0
     """Let the motor move freely."""
 
+    COAST_SMART: Stop = 4
+    """Let the motor move freely. For the next relative angle maneuver,
+    take the last target angle (instead of the current angle) as the new
+    starting point. This reduces cumulative errors. This will apply only if the
+    current angle is less than twice the configured position tolerance."""
+
     BRAKE: Stop = 1
     """Passively resist small external forces."""