2002 FRC Controller...

[gallo26]

Hey I'm working on repairing all my team's old robots back to working condition for robot demonstrations and driver practice. The problem i am facing is these controllers now use BASIC programming. Now i understand most of it but im still stuck on one part of it. the PWMs...

This robot is a 3 wheeled robot usin rocking gearshift. When in low gear, all 3 wheels and powered. When in High gear the back 2 wheels are not powered, and the front one drives the robot. Steering uses one motor and a potentiometer. When programmed correctly, the steering will react and mimic the joystick like an RC car would (servo). We also have a Mini Krunch which has a servo and motor onboard that runs off the port 3 X and Y axis

I am working on linking the first 3 PWMs to Port 1 Y axis. thats easy. and the Steering motor to PWM4. But i dont see where to link that, or how to add the potentiometer into this. And then after that... how do i tell it to not power the rear motors while in high gear?

I read all the documents about Legacy and all that, but i just dont understand it...

Thank you to anyone who can help me with this!!!