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Well...
It takes input from 4 joysticks: 1 in each OI port.
It takes input from the robot controller digital switches.
In the Buttons to Relays section it sets relays 1 through 7 to be on/off depending on which OI switches are being pushed.
In the SEROUT statement it directly converts joystick input to PWM output.
If you have any specific questions, feel free to PM me.
__________________
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