diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c
index e4c75bd5011d430872a41298bc42b941b2b1d152..b5595e418f24a85953b50aa254c3cc4eda2d3837 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_pwm_output.c
@@ -1,7 +1,7 @@
 #include "hw_impl_zybo.h"
 
-#define THROTTLE_PULSE_WIDTH_LOW 1000 // us
-#define THROTTLE_PULSE_WIDTH_HIGH 2000 // us
+#define THROTTLE_PULSE_WIDTH_LOW 100000 // 1us
+#define THROTTLE_PULSE_WIDTH_HIGH 200000 // 2us
 #define PERIOD_WIDTH 222222 // 100000000 ns / 450
 #define PULSE_WIDTH_ADDR_OFFSET 4
 
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
index 4cf1ae4d8cf1844b3f24fec38e8d6aff249f5289..ca3583935249c2a96655e454a8d29999ad0182cf 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
@@ -99,4 +99,37 @@ int test_zybo_pwm_inputs() {
   }
 }
 
+/**
+ * Test for the PWMInputDriver.
+ *
+ * Instructions:
+ * 1) Connect the quad Zybo board to computer using USB.
+ * 2) Move jump on Zybo board to use JTAG instead of SD.
+ * 3) Turn on Zybo board and turn on Spektrum handheld controller.
+ *   - Verify receiver on quad pairs with controller (orange LED should turn on)
+ * 3) Place breakpoint somewhere in the while loop of this function.
+ * 4) Set the RUN_TESTS macro in main.c
+ * 5) Uncomment only this test in main.c
+ * 6) Debug main.
+ * 7) Observe the values of pwm_inputs in debugger chaning as you use the
+ *    Spektrum RC controller.
+ */
+int test_zybo_pwm_outputs() {
+  struct PWMOutputDriver pwm_outputs = create_zybo_pwm_outputs();
+  pwm_outputs.reset(&pwm_outputs);
+
+  unsigned long pwms[4];
+  pwms[0] = 1000;
+  pwms[1] = 1000;
+  pwms[2] = 1000;
+  pwms[3] = 1000;
+  while (1) {
+    int i;
+    for (i = 0; i < 4; i += 1) {
+      pwm_outputs.write(&pwm_outputs, i, pwms[i]);
+    }
+    int temp = 0;
+  }
+}
+
 
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/main.c b/quad/xsdk_workspace/modular_quad_pid/src/main.c
index b0b7ccf45778a8c70cce6a5475419e04e6ee951c..c49e2bed8fa60b6fcccb4c9e0344106544de45a9 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/main.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/main.c
@@ -26,8 +26,8 @@ int main()
 #ifdef RUN_TESTS
   //test_zybo_mio7_led_and_system();
   //test_zybo_i2c();
-  test_zybo_pwm_inputs();
-  //test_zybo_pwm_outputs();
+  //test_zybo_pwm_inputs();
+  test_zybo_pwm_outputs();
   //test_zybo_uart();
   //test_zybo_axi_timer();
   return 0;