[Dave Flowerday]

It's been mostly covered already, but please do not calibrate the victors for a center value other than 127. This is a serious safety hazard! If the joysticks on your OI become unplugged, the values will default to 127. If your victors are calibrated for something else, your robot will start moving! This is not good, especially since many people ignore the safety warnings and get too close to the robot to work on it or look at it when it's not disabled.

I strongly recommend that you write a "calibration program" that outputs 127 on all PWMs, and then can output 254 and 0 when two different buttons are pressed. Use this program to calibrate all your victors (this way they're also interchangeable). Then, write some code that deals with the joystick inputs. What you probably need is a dead zone, so that any joystick values from say 117-137 get mapped to an output of 127. If you search around CD, there should be many code examples of joystick code for dead zones & scaling. I'm sure it seems like more work to you, but this really is the correct (and safe) way to implement this. Then, you can easily have a switch that forces all outputs to 127.

My understanding of the way the IFI RC works is that there will be no way to keep the relay outputs enabled while simultaneously disabling the PWMs, other than the user-generated PWM functions that you've found. But be aware that those user PWMs can be jittery if your code is too complicated, and this can cause your motors to twitch and move even when you are outputting a neutral value of 127.