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Originally Posted by Alan Anderson
I was (and still am) confused by your saying that a grounded pin is impossible for a normal joystick. That's true of the analog inputs, and the "aux" signal you mentioned is an analog input (you probably meant sw_aux1 or sw_aux2, which are indeed switch inputs). However, the OI digital inputs are designed to be grounded when the switch is pressed. Grounding a switch input is not impossible; on the contrary, it's mandatory.
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Sorry, I was probably unclear. We are using sw_aux1. What I meant was that the joysticks that we're using have only two buttons. Therefore it is impossible for them to signal a "push" of any other digital input. Our circuit pretends that it is pushing the aux1 digital input. Therefore the robot can tell what is plugged in.