[Al Skierkiewicz]

Mike,
Thanks on the PWM values, I knew there was something I was forgetting!
We calibrate speed controllers regularly. We never trust that they are delivered in the mode we need or that they will stay where they are told. As a matter of fact, our software team has written specific calibrate functions which we use to insure that everything on the robot is correct before going onto the playing field.
Dave, take a smack up side the head out of petty cash. Now seriously, I was under the same impression, the calibrate procedure stores both max and min values in addition to the rest position and scales the input accordingly. That makes the joystick match absolute values. Full up is 255 whether from the joystick or auto software. Analog is so ambiguous, but I like it.