[Tanner]

Saying this cause I didn't see it said explicitly.

Because you're opening the motors in the execute loop, you'll get a error sooner or later saying (not very well, I might add) that the cRIO can't open another PWM that is already open. You could close the motor as the end of the loop is done, but that's bad practice (slow things down, and just more effort than is needed).

Any of the solutions mentioned in here will work, though I just wanted to point out something else that I saw.

-Tanner