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The program does work..
We used the single joystick drive and it works fine. When you drive the stick forward, both motors go forward. When you pull back, both go back. When you move it to the left on the X-axis, it turns to the left (the right motor goes forward and the left goes back) and when you move to the right it turns right. It is a good program but I prefer the two stick drive, it has more control. I guess it's up to the user.
As per your other question: the program is downloaded into the robot controller. Any information needed from the joysticks will be sent to that program and it will decipher it and control the motors.
Hope this helps.
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