[xrabohrok]

I am using 2007 frc_serial_ports version of the code from kevin.org.

my modifications are as follows:

  pwm01 = joystick_values[p1_y];   
  pwm02 = joystick_values[p2_y];   
  pwm03 = joystick_values[p3_y];   
  pwm04 = 127; //p4_y;   
  pwm05 = 127; //p1_x;   
  pwm06 = 127; //p2_x;   
  pwm07 = 127; //p3_x;   
  pwm08 = 127; //p4_x;   
  pwm09 = 127; //p1_wheel;
  pwm10 = 127; //p2_wheel;   
  pwm11 = 127; //p3_wheel;   
  pwm12 = 127; //p4_wheel;

joystick_values is a 256 element global array with each element a value that the pwm should be in relation to the joystick value. We have been using that array the same way for 4 years (its kind of a hand me down).

The robot seems to go crazy at random now. It start and stop being crazy without loading the code.