Thanks. I loaded the latest firmware and the controller is working now, at least with the default code. Unfortunately, I wasn't able to control the PWMs using Kevin's code. I've read on the forum somewhere that components of Kevin's FRC code can be dropped into the regular Vex code easily enough, so I'll try that next.
Unrelated, I'm having trouble using mplab 8.10 with the 2.40 compiler... I guess I'll start another thread to fix that issue. Looks like another long night of delicious code.
