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You could not connect a joystick to a PWM input, however you could connect it to the Analog and Digital Inputs.
You'll have to build an adapter that takes the joystick input (a 15-pin male) and connects to the Analog/Digital Inputs on the edu-RC (PWMcable-type connectors).
There's a white paper on ChiefDelphi that gives you the pinouts for a standard joystick.
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