[TerranCoder]

A bit of prologue background: we're working on rack-and-pinion steering for our robot. As such, I've (supposedly) changed the Default Code to the point where X-axis changes should only be sent to pwm13, the steering motor.

However, it seems that with either of the joysticks sent with the KOP, the x changes are for some reason sent to the drive motors as well as the steering motor and the Y-axis changes are sent to the steering motor as well as the drive motors.

Here's the PWM setup:

pwm16: Right drive motors
pwm15: Left drive motors
pwm13: Steering motor

Here's the steering code (so far, not sure if it works yet! )

  if (p1_x >= MAXI) {	
    XDelta = MAXI-Temp;
  } 
  else if (p1_x <= MINI)
  {
    XDelta = MINI - Temp;
  }

  if (XDelta < 0 && XDelta < -4) {
    XDelta *= -1;
    for (i = 0; i<(XDelta/4); i++) {
		for (j = 0; j < 10; j++) {
			pwm13 = 0;
   		}
		pwm13 = 127;
		MAXI -= 4;
		MINI -= 4;
    }
    Temp = p1_x;
  }
  else if (XDelta > 0 && XDelta > 4)
  {
	 for (i = 0; i<(XDelta/4); i++) {

		for (j = 0; j<10; j++) {
			pwm13 = 255;
   		}
		pwm13 = 127;
		MAXI += 4;
		MINI += 4;
    }
	Temp = p1_x;
  }

Temp, MAXI, and MINI are all global variables first initialized in User_Initialization(). XDelta is a local variable unused elsewhere.

Here is the drive motor code (such as it is) :

 if (TempY > p1_y+15) 
  {
    TempTemp = p1_y/2;
    pwm15 = Exponential_Grow(TempTemp,0);
    pwm16 = Exponential_Grow(TempTemp,0);
	TempY = p1_y/2;
  } 
  else if (TempY < p1_y-15) 
  {
    TempTemp = p1_y/2;
    pwm15 = Exponential_Grow(TempTemp,0);
    pwm16 = Exponential_Grow(TempTemp,0);
    TempY = p1_y/2;
  } 
  else 
  {
    pwm15 = Exponential_Grow(p1_y,0);
    pwm16 = Exponential_Grow(p1_y,0);
	TempY = p1_y;
  }

TempY is also a global variable initialized in User_Initialization(). TempTemp is a local variable not used anywhere else.

As far as I can tell, it's displaying behavior similar to that of the basic Default code and trying to do the two-wheeled turning using pwms 13-16.

Any help would be very, very appreciated!