docs: public boolean setCarpetMode(boolean enabled, int high, int low, int integral, int stallTime) throws CommandExecutionException {
          JSONObject payload = new JSONObject();
          payload.put("enable", enabled ? 1:0);
          payload.put("current_high", high);
          payload.put("current_low", low);
          payload.put("current_integral", integral);
          payload.put("stall_time", stallTime);
          JSONArray send = new JSONArray();
          send.put(payload);
          return sendOk("set_carpet_mode", send);
      }