[lemiant]

Originally Posted by Greg McKaskle

FRC libraries have integrated safety features, as you are probably aware.

Is that what you are asking about? Or are you asking something else?

Perhaps some additional info on what the project is and what the PWM is for will open up other suggestions to help.

Greg McKaskle

I am using it to interface a computer to motors and sensors in order to control an autonomous golf cart. The goal is to write a C++ ROS package which resides on the RoboRIO and immediately connects to the rosmaster over ethernet on startup, at which point it becomes a slave to the computer and receives sensor input / issues motor control commands.