How to use timer 16 bit timer to generate 16bit PWM on arduino mega

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Hi, I'm currently using analogWrite to control DC motor speed, however, when applied PID to control more precise, the default 8bit PWM is not enough, so I need to use at least 10 bit PWM. As i'm using pin6, pin 7 and pin 8 on arduino mega 2560 to control, I believe that they are all on the same timer 4 and available of up to 16bit PWM. Are there any examples and tutorial online about this ? Thanks.

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Excellent tutorial here: https://gammon.com.au/timers

CTC mode allows you to choose the bit depth.

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I'd choose any 16 bit PWM mode and, if required, use ICR for the TOP value (0xFFFF). Then the 3 related PWM channels are free for use on a Mega. Please note that the duty cycle always ranges from 0 to TOP, not 0 to 100%.

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