Is there a way to tell when the motors disconnect?

I want to create a system that would turn off motors when an adjacent motor disconnects so driving can still be smooth (Front left motor disconnects then the program manually turns off the front right so only back wheels are driving for smoother driving) and I was wondering if there is a way to tell the code to sense when motors disconnect or reconnect.

The motor class (as well as every other class) in VEXcode has a class member function called installed(), that will return false if the motor was disconnected. Monitor that in a separate task, it will not change to false until the motor has been disconnected for more than 1 second.


Maybe drop torque by 50% if that happens instead of a complete disconnect.