searpate disengage and stop

api/src/opentrons/hardware_control/ot3api.py

@@ -692,14 +692,25 @@ async def _chained_calls() -> None:
 
         asyncio.run_coroutine_threadsafe(_chained_calls(), self._loop)
 
-    async def halt(self) -> None:
-        """Immediately stop motion."""
+    async def stop_motors(self) -> None:
+        """Immediately stop motors."""
         await self._backend.halt()
+
+    def stop_modules(self) -> None:
+        """Immediately stop modules."""
         asyncio.run_coroutine_threadsafe(self._execution_manager.cancel(), self._loop)
 
+    async def halt(self) -> None:
+        """Immediately disengage all present motors and clear motor and module tasks."""
+        await self.disengage_axes(
+            [ax for ax in Axis if self._backend.axis_is_present(ax)]
+        )
+        await self.stop_motors()
+        self.stop_modules()
+
     async def stop(self, home_after: bool = True) -> None:
         """Stop motion as soon as possible, reset, and optionally home."""
-        await self._backend.halt()
+        await self.stop_motors()
         self._log.info("Recovering from halt")
         await self.reset()