I just noticed in the manual, that PWM1 gives CCW rotation of the moter, while PWM5 gives CW rotation, so I edited my previous post back to the original 1988 suggestion.
BTW, seanwitte, to reverse a joystick direction in PBASIC, use
p1_y = 254 - p1_y
because
if p1_y is 254, it becomes 000,
if p1_y is 127, it remains 127,
if p1_y is 000, it becomes 254.
The OI programming will not allow sending an analog value greater than 254 because 255 is used as a syncing signal (Serin starts with 255,255, waiting for two $FF = x00FF = 255d bits before starting to accept data for its following parameters.
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Even better - download the pdf re default program guide from
www.innovationfirst.com and see what they have to say about switch input SW5 on ISAAC.
It gives you one-stick drive. checkit out !!!