code: def shutdown(self):
          
          self.stop_balance.set()  # Stop balance thread
          self.motor_left.stop()
          self.motor_right.stop()
          self.gyro_file.close()
          self.touch_file.close()
          self.encoder_left_file.close()
          self.encoder_right_file.close()
          self.dc_left_file.close()
          self.dc_right_file.close()
docs: Close all file handles and stop all motors.