[tsaksa]

Whenever I have questions about where a problem is, I like to use a simpler device to help in the troubleshooting. In this case the small hobby servos supplied in the kit of parts make a great debugging tool. Substitute one in place of the Victor. You also need to provide a jumper between the two pins next to that PWM output. The jumper is needed to provide power for a hobby servo, but is removed when running an externally powered device such as a Victor.

I believe the hobby servos supplied with the KOP will move through an angle of about 120 degrees (full forward to full reverse) If you only get a much smaller move (such as 90 degrees total) than your code or something else upstream in the problem. If you get something close to 120 degrees total movement, than the Victor is the problem.

My guess is that if you do this test you will find the servo does not move as much as expected and the problem is in the code or driver station somewhere. Victors seem to fail catastrophically when they go, but there are many things in the code that are more likely to cause a partial output problem like this.

Do a test and make sure you know where the problem is originating first. There is not a lot of time left to be looking in the wrong location.