private void setVBusMode() {
        if (m_voltageMode) {
            
            if(m_robotDrive!= null) {
                m_robotDrive.setMaxOutput(1);
            }
            
            try {
                if (_leftFrontMotor != null) {
                    _leftFrontMotor.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
                    _leftFrontMotor.configNeutralMode(CANJaguar.NeutralMode.kCoast);                    
                }
                _leftRearMotor.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
                _leftRearMotor.configNeutralMode(CANJaguar.NeutralMode.kCoast);                    
               
                if (_rightFrontMotor != null) {
                    _rightFrontMotor.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
                    _rightFrontMotor.configNeutralMode(CANJaguar.NeutralMode.kCoast);                                        
                }
                _rightRearMotor.changeControlMode(CANJaguar.ControlMode.kPercentVbus);
                _rightRearMotor.configNeutralMode(CANJaguar.NeutralMode.kCoast);                    
                
                if (_leftFrontMotor != null) {
                    _leftFrontMotor.enableControl();
                }
                _leftRearMotor.enableControl();
                
                if (_rightFrontMotor != null) {
                    _rightFrontMotor.enableControl();
                }
                _rightRearMotor.enableControl();
                
                m_voltageMode = false;
            } catch (CANTimeoutException ex) {
                System.out.println("DriveTrain::setVBusMode - " + ex.getMessage());
            }
        }
    }