[gnirts]

I am not sure if this is what the functions above are doing, but you could find the difference between the joystick and pwm values, divide that number by a constant, and apply that to the pwm value. This operates similar to KW's tracking.c code.

Just make sure differences can be signed, and watch out for overflow due to rounding.

BTW, what labview app is that?

Thanks in advance,
Robinson