[ttldomination]

Interesting, very nicely built. A few quick questions.

1. was the tower attached or were you or someone holding it in place?

2. More of a suggestion, you could have the joy stick value *add* to the position of the encoder instead of setting the joystick value to the value of the servo.

For example:

servovalue = servovalue + joystick value;
Servo[a] = servovalue;

Where the joystick no longer equals the position of the servo. Simply changes the position.