Use of PWM outputs 13-16 via WPILib

[sfs]

Has anyone successfully used PWM outputs 13-16 in WPILib? We have not yet needed them, but I wondered if the SetPWM() function does what is necessary internally to allow them to be used in the same manner as ports 1-12. I ask because the default code requires the use of the Generate_Pwms() function when using ports 13-16.

[BradAMiller]

Originally Posted by sfs

Has anyone successfully used PWM outputs 13-16 in WPILib? We have not yet needed them, but I wondered if the SetPWM() function does what is necessary internally to allow them to be used in the same manner as ports 1-12. I ask because the default code requires the use of the Generate_Pwms() function when using ports 13-16.

WPILib only drives PWM ports 1-12 directly since those are the ones controlled by the master processor. You can control the other servos using some clever code that Kevin Watson wrote.

There is an explanation of how to do it in easyC here. Even though you are not using easyC, it is based on WPILib and the code works the same way.