diff --git a/doc/api/robotics.rst b/doc/api/robotics.rst
index 678f850..329f603 100644
--- a/doc/api/robotics.rst
+++ b/doc/api/robotics.rst
@@ -49,6 +49,9 @@
     the default speed and acceleration for straight maneuvers and turns.
     Use the following attributes to adjust more advanced control setttings.
 
+    You can only change the settings while the robot is stopped. This is
+    either before you begin driving or after you call :meth:`.stop`.
+
     .. autoattribute:: pybricks.robotics.DriveBase.distance_control
         :annotation:
 
diff --git a/pybricks/robotics.py b/pybricks/robotics.py
index 7d61de2..d762fd4 100644
--- a/pybricks/robotics.py
+++ b/pybricks/robotics.py
@@ -46,7 +46,7 @@ class DriveBase:
         pass
 
     def stop(self):
-        """Stop the robot by coasting the motors."""
+        """Stop the robot by letting the motors spin freely."""
         pass
 
     def distance(self):
@@ -87,6 +87,9 @@ class DriveBase:
 
         If you give no arguments, this returns the current values as a tuple.
 
+        You can only change the settings while the robot is stopped. This is
+        either before you begin driving or after you call :meth:`.stop`.
+
         Arguments:
             straight_speed (:ref:`linspeed`): Speed of the robot during
                 :meth:`.straight`.