Speed limiting code from last year in C?

[Josh Siegel]

I've been working on our EduBot programming all week, and I haven't been able to successfully port over the speed-limiting code from last year (jumper on SW7) to C. I'm trying to cut speed for debug purposes with the variable 'topspeed' (0-254), and also have a table of volts->topspeed variable to mantain speed for DR programs, etc. Sadly, even if it compiles, it makes one of the motors just pulse on and off and the other continues at full speed.

I wish I could post all the ways I tried, I think I still have two snippets left, but I thought it would be best to ask if anyone here has done/knows how to make this code fuction without having to deal with my crappy, innefficient ways 'n such.

I can post my code without the limiting section if that will help anyone.

pwm01 is left motor drive, pwm02 is right motor drive. Thanks so much!