You can get the default code at
http://www.innovationfirst.com/FIRST...ultProgram.bsx . With this program, the y-axis of joystick 1 controls pwm 1, the y-axis of joystick 2 controls pwm 2, etc. If you want some variations on the code goto
http://www.innovationfirst.com/FIRST...ite_papers.htm . The compiler comes in the kit each year if you don't have it already or you can download it at
http://www.parallaxinc.com/html_file...s_software.htm .