[JoshJ]

This may be oversimplified, but all you have to do is use a PWM output as a function of a joystick input. something like pwm(#)=p2_y; (or whatever port your joystick is in). U can even use the Limit_Mix function so that it reads pwm(#)=Limit_Mix(2000+p2_y);

edit: Actually if you are using a joystick, all you have to do is plug it into port2 on the OI, and ur speed controller for the globe into PWM OUT 2 and you are set to go. The y-axis controls the arm. (Default code can do wonders lol)