[ace123]

One thing that you should be aware of is that the Operator Interface analog inputs give you 8 bits while the Robot Controllers give you 10 bits of data.

This difference is extremely important when you deal with things like potentiometers. If you were using a joystick to make an arm go to a specific pot angle, then you should multiply the OI's value by 4 to get 10 bits.

This made our arm go haywire last year at regionals and set us back a lot as my team members debugged the problem, and eventually it was just completely disabled.

I'm not sure why they would have such a small range. Perhaps they are not rotating their full range. I have no clue what could be wrong.

To wire the pot to the RC, I would assume that you take input power from the 5V center pin, ground from the black pin closest to the edge, and the output data to the pin closest to the middle labeled white/yellow. You could probably just use a PWM cable and soldier the pots to the leads at the end to get a nice connector.