Disabling PWM outputs w/out disabling entire bot.

[flameout]

We have been operating a mobile T-shirt launcher based on the IFI control system (we're using one from 2008, so it's the "2004 control system").

Although we already have a disable switch implemented on the control board (using the Competition Port on the OI), it would be nice to have an additional "disable drivetrain" mode that leaves the relay outputs operational (so the compressors are still running).

Since the joysticks are essentially uncalibrated (all our calibration is done with the victors), outputting a value of 127 does not guarantee a neutral output from our victors. Instead, I would like to disable the PWM outputs entirely.

The only way I've found to do this is to move the drivetrain outputs to PWM 13 and PWM 14, then make the call to Generate_Pwms() conditional on the state of the "drivetrain disable" switch.

Is there a better way to do this?

Thanks for any help.