Haha! I just discovered something totally by accident that I should have checked before. When using Kevin's FRC code with the Vex, motor ports 1 through 4 are controlled by pwms 13 through 16. That solves my problem. I still don't know how to control ports 5 through 8, but four motors is enough for now.
Oh, and it works perfectly. I'm controlling the Vex with the PSX controller attached to my desktop, over wifi. Now I just need to mount my laptop to the robot... Only I'm not that good with the mechanical aspect of robotics. Ah well... I'll have pictures and a video up soon.
