Most bugs fixed, motor2.py working properly, but something about initialization makes the serial connection hang... running MPCtest.py on a cold boot and THEN program.py works fine, but running program.py makes it hang.
MCPWM_ConfigChannel cannot be called before MCPWM_Init, otherwise the serial connection hangs on that command. Terrible catches in their code I guess... Either way, 100% cold boot working, as long as pull down resistors are in place