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Re: Strange PWM/Motor Behavior!
If you are calling Default_Routine(), look for this bit of code:
Code:
pwm13 = pwm14 = Limit_Mix(2000 + p1_y + p1_x - 127);
pwm15 = pwm16 = Limit_Mix(2000 + p1_y - p1_x + 127);
If it is still not commented out, that may be what is vexing you 
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2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
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