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I am no doubt horribly confused, just as is everyone else, but I have a different take on things. It seems to me that you're trying to use one joystick drive but have the two joystick program in the RC. I don't know what that would have to do with the PWM LEDs, but it would explain why only half the robot works.
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-Ryan
"You're not a real programmer until you end all your sentences with semicolons;"
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