[Tom Line]

I think I need to clarify a bit.

Our turret looks at the gyro and initial heading of the robot to determine absolute angle to the field.

If the joystick is pushed to the west - the turret turns and aims west. If the joystick is pushed north - the turret turns and aims north. Regardless of what direction the robot is facing.

That is why I need the circular range of motion joystick. Adjusting the gain of the turret for angles close to the x and y axis result in the turret being very slow in the corners because the joystick is much further from the center. Adjusting for the corners makes it touchy when the joystick is pushed in the direction of x and y axis.

Potentionally we could use an encoder and calibrate it - continous turn pots have too much of a dead zone to be desirable. However we have many functions that are tied to joystick buttons that are simply too late to change.

Perhaps we'll just machine a 2 part collar that will fit around the top of the joystick to limit it to circular motion.