[Eric W. Jones]

We've generally avoided getting the pwms too close to 255. We just put in some code that says something like:

if(p1_y >= 250)
pwm01 = 250

this has worked well for us in the past, as if the pwm output exeeds 255, then it will loop back onto itself and tear up your motors. A pwm output of 256 is essentially 0.

If I'm wrong, please correct me.