[chmp09]

I have not worked on a crab drive software before, but I can at least get you started with the pots. They need to be connected to analogue inputs (slot 1 by default). When programming, use the analogue input get voltage vi.
The voltage should correspond to what direction the pot is facing in. I recommend changing the values as they are imputed so that the read radians (multiply the value by 2PI/5), and the subtracting or adding so that all your values point to the same direction.