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I've found a much easier solution is just to pass joystick values back to a Dashboard Program.
The RC passes back Y-Axis for all four ports, and the X for the first. This allows you to get real-time perfect precision control of the joysticks.
I will be working on a very basic dashboard program over the summer, that will (hopefully) when it's done collect all the information and save it to two files, one that is read by a Flash MX program (the second half of our Dashboard, and the part that only works with our robot), and a second that will save all the data given by the robot. IF people want, I can also make a mode that just outputs all 5 joystick axises to console, and to zero out the joysticks just make them all equal to 127.
I've found that the Dashboard Programs, even when saving to / reading from a file are very quickly updated, because the RC is so slow compared to a laptop / desktop, so it's very easy to calibrate the joysticks this way.
The other possible way to calibrate the joysticks is to use the DEBUG command in PBASIC, except that slows down the code execution a lot, where, as far as I've noticed, the dashboard port doesn't seem to affect it much.
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