One thing to try is to put tape over the calibrators to keep them in position.
As for the looseness in the joystick, you can always fix that in the code. My team had a "dead zone" around neutral where any joystick input from 117 to 137 came out as 127. That solved our problems.
Quote:
pwm01 = p1_y;
pwm02 = p2_y;
if (pwm01 >=117 && pwm01 <= 137) {pwm01 = 127}
if (pwm02 >=117 && pwm02 <= 137) {pwm02 = 127}
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This should work.