[Mark McLeod]

Do i understand correctly that you started with Kevin Watson's "bells and whistles" 2.1 code?

Used as is there seem to be conflicting calls to set PWMs 13,14,15,16 mixing a new method Kevin's introduced with an older unreliable method. Just an oversight.

In User_Autonomous() replace:

        Generate_Pwms(pwm13,pwm14,pwm15,pwm16);

with

 PWM(pwm13,pwm14,pwm15,pwm16);

P.S. You also need to add #include "pwm.h" to user_routines_fast.c


There is also some extra code you should probably comment out in Default_Routine() just before pwms13,14,15,16 are set:

  p1_x = 255 - p1_y;
  p1_y = 255 - pwm05;

You might also try testing your output on pwms other than 13-16.

P.S. Remember you have to copy the camera calls from user_routines.c into your autonomous routine to keep the camera running during autonomous.