Invalid PWM Channel Index

[Joe Ross]

Originally Posted by aerophd2001

So you're saying that PWM Channels 1 & 2 cannot be used for servos? (or: only 3-10 *can* .. ?)

You can use PWM channels 1 & 2 for servos, you just have to delete the Robot Drive VIs (or change which PWM channels they use).

[Greg McKaskle]

If you look at a digital sidecar, it has a row of PWM connectors. Each connector can be used for motors or servos depending on if they are jumpered. The SW API needs to deal with this HW resource limitation.

So, once you've designated a PWM channel is used for one thing, it is reserved and cannot be reopened for the other purpose. What Joe is pointing out is that the template code already reserves the first couple channels as being for motors. That means that until they are closed, they cannot be opened for servos and will return an error.

Greg McKaskle

[aerophd2001]

I found the source of the error. It was all the way back in the Begin.vi within Robot Main.vi. I didn't know (until I just now found it) that the main drive motors are being initialized within Begin.vi. I'm making my modifications now and will test tomorrow afternoon when we continue with our testing.