we need to put the input and then what we expect the output values to be turbo fine control joystick switch ( 1 or 2 ) joystick positions calibration constants joystick extreme values fine control mult and div motor output scale mult and div (fine control off | turbo off) Test Joy 1 Proposed Outcome Actual Outcome ------------------------------------------------------------------- One Joystick left and right | ------------------------------------------------------------------- 255y 221 and 34 | ------------------------------------------------------------------- 0y 33 and 221 | ------------------------------------------------------------------- 0x 221 and 221 | ------------------------------------------------------------------- 255x 33 and 34 | ------------------------------------------------------------------- 255x 255y 127 and 34 | ------------------------------------------------------------------- 0x 255y 221 and 127 | ------------------------------------------------------------------- 255x 0y 127 and 221 | ------------------------------------------------------------------- 0x 0y 33 and 127 | ------------------------------------------------------------------- | Two Joysticks | Joystick1(Right)-Joystick2(Left)| motor output right and left | ------------------------------------------------------------------- 255(y1) 255(y2) 221 and 34 | ------------------------------------------------------------------- 0(y1) 0(y2) 33 and 221 | ------------------------------------------------------------------- 255(y1) 0(y2) 229 and 221 | ------------------------------------------------------------------- 0(y1) 335(y2) 33 and 34 | ------------------------------------------------------------------- 255(y1) 127(y2) 221 and 127 | ------------------------------------------------------------------- 0(y1) 127(y2) 33 and 127 | ------------------------------------------------------------------- 127(y1) 255(y2) 127 and 34 | ------------------------------------------------------------------- 127(y1) 0(y2) 127 and 221 | ------------------------------------------------------------------- (fine control off | turbo on) Test Joy 1 Proposed Outcome Actual Outcome ------------------------------------------------------------------- One Joystick left and right | ------------------------------------------------------------------- 255y 255 and 0 | ------------------------------------------------------------------- 0y 0 and 255 | ------------------------------------------------------------------- 0x 255 and 255 | ------------------------------------------------------------------- 255x 0 and 0 | ------------------------------------------------------------------- 255x 255y 127 and 0 | ------------------------------------------------------------------- 0x 255y 255 and 127 | ------------------------------------------------------------------- 255x 0y 127 and 255 | ------------------------------------------------------------------- 0x 0y 0 and 127 | ------------------------------------------------------------------- | Two Joysticks | Joystick1(Right)-Joystick2(Left)| motor output right and left | ------------------------------------------------------------------- 255(y1) 255(y2) 255 and 0 | ------------------------------------------------------------------- 0(y1) 0(y2) 0 and 255 | ------------------------------------------------------------------- 255(y1) 0(y2) 255 and 255 | ------------------------------------------------------------------- 0(y1) 255(y2) 0 and 0 | ------------------------------------------------------------------- 255(y1) 127(y2) 255 and 127 | ------------------------------------------------------------------- 0(y1) 127(y2) 0 and 127 | ------------------------------------------------------------------- 127(y1) 255(y2) 127 and 0 | ------------------------------------------------------------------- 127(y1) 0(y2) 127 and 255 | ------------------------------------------------------------------- (fine control on | turbo off) Test Joy 1 Proposed Outcome Actual Outcome ------------------------------------------------------------------- One Joystick left and right | ------------------------------------------------------------------- 255y 174 and 81 | ------------------------------------------------------------------- 0y 80 and 175 | ------------------------------------------------------------------- 0x 174 and 175 | ------------------------------------------------------------------- 255x 80 and 81 | ------------------------------------------------------------------- 255x 255y 127 and 81 | ------------------------------------------------------------------- 0x 255y 174 and 127 | ------------------------------------------------------------------- 255x 0y 127 and 175 | ------------------------------------------------------------------- 0x 0y 80 and 127 | ------------------------------------------------------------------- | Two Joysticks | Joystick1(Right)-Joystick2(Left)| motor output right and left | ------------------------------------------------------------------- 255(y1) 255(y2) 174 and 81 | ------------------------------------------------------------------- 0(y1) 0(y2) 80 and 175 | ------------------------------------------------------------------ 255(y1) 0(y2) 174 and 175 | ------------------------------------------------------------------- 0(y1) 255(y2) 80 and 81 | ------------------------------------------------------------------- 255(y1) 127(y2) 174 and 127 | ------------------------------------------------------------------- 0(y1) 127(y2) 80 and 127 | ------------------------------------------------------------------- 127(y1) 255(y2) 127 and 81 | ------------------------------------------------------------------- 127(y1) 0(y2) 127 and 175 | ------------------------------------------------------------------- SecondSecondSecondSecondSecondSecondSecondSecondSecondSecondSecondSecondSecond (fine control off | turbo off) Test Joy 1 Proposed Outcome Actual Outcome ------------------------------------------------------------------- One Joystick left and right | ------------------------------------------------------------------ 191y 178 and 77 | ------------------------------------------------------------------- 64y 77 and 178 | ------------------------------------------------------------------- 64x 178 and 178 | ------------------------------------------------------------------- 191x 77 and 77 | ------------------------------------------------------------------- 191x 191y 127 and 77 | ------------------------------------------------------------------- 64x 191y 178 and 127 | ------------------------------------------------------------------- 191x 64y 127 and 178 | ------------------------------------------------------------------- 64x 64y 77 and 127 | ------------------------------------------------------------------- | Two Joysticks | Joystick1(Right)-Joystick2(Left)| motor output right and left | ------------------------------------------------------------------- 191(y1) 191(y2) 178 and 77 | ------------------------------------------------------------------- 64(y1) 64(y2) 77 and 178 | ------------------------------------------------------------------- 191(y1) 64(y2) 178 and 178 ------------------------------------------------------------------- 64(y1) 191(y2) 77 and 77 | ------------------------------------------------------------------- 191(y1) 127(y2) 178 and 127 | ------------------------------------------------------------------- 64(y1) 127(y2) 77 and 127 | ------------------------------------------------------------------- 127(y1) 191(y2) 127 and 77 | ------------------------------------------------------------------- 127(y1) 64(y2) 127 and 178 | ------------------------------------------------------------------- (fine control off | turbo on) Test Joy 1 Proposed Outcome Actual Outcome ------------------------------------------------------------------- One Joystick left and right | ------------------------------------------------------------------- 191y 191 and 64 | ------------------------------------------------------------------- 64y 64 and 191 | ------------------------------------------------------------------- 64x 191 and 191 | ------------------------------------------------------------------- 191x 64 and 64 | ------------------------------------------------------------------- 191x 191y 127 and 64 | ------------------------------------------------------------------- 64x 191y 191 and 127 | ------------------------------------------------------------------- 191x 64y 127 and 191 | ------------------------------------------------------------------- 64x 64y 64 and 127 | ------------------------------------------------------------------- | Two Joysticks | Joystick1(Right)-Joystick2(Left)| motor output right and left | ------------------------------------------------------------------- 191(y1) 191(y2) 191 and 64 | ------------------------------------------------------------------- 64(y1) 64(y2) 64 and 191 | ------------------------------------------------------------------- 191(y1) 64(y2) 191 and 191 | ------------------------------------------------------------------- 64(y1) 191(y2) 64 and 64 | ------------------------------------------------------------------- 191(y1) 127(y2) 191 and 127 | ------------------------------------------------------------------- 64(y1) 127(y2) 64 and 127 | ------------------------------------------------------------------- 127(y1) 191(y2) 127 and 64 | ------------------------------------------------------------------- 127(y1) 64(y2) 127 and 191 | ------------------------------------------------------------------- (fine control on | turbo off) Test Joy 1 Proposed Outcome Actual Outcome ------------------------------------------------------------------- One Joystick left and right | ------------------------------------------------------------------ 191y 152 and 103 | ------------------------------------------------------------------- 64y 101 and 154 | ------------------------------------------------------------------- 64x 152 and 154 | ------------------------------------------------------------------- 191x 101 and 103 | ------------------------------------------------------------------- 191x 191y 127 and 103 | ------------------------------------------------------------------- 64x 191y 152 and 127 | ------------------------------------------------------------------- 191x 64y 127 and 154 | ------------------------------------------------------------------- 64x 64y 101 and 127 | ------------------------------------------------------------------- | Two Joysticks | Joystick1(Right)-Joystick2(Left)| motor output right and left | ------------------------------------------------------------------- 191(y1) 191(y2) 152 and 103 | ------------------------------------------------------------------- 64(y1) 64(y2) 101 and 154 | ------------------------------------------------------------------- 191(y1) 64(y2) 152 and 154 | ------------------------------------------------------------------- 64(y1) 191(y2) 101 and 103 | ------------------------------------------------------------------- 191(y1) 127(y2) 152 and 127 | ------------------------------------------------------------------- 64(y1) 127(y2) 101 and 127 | ------------------------------------------------------------------- 127(y1) 191(y2) 127 and 103 | ------------------------------------------------------------------- 127(y1) 64(y2) 127 and 154 | ------------------------------------------------------------------- Interface ------------------------------------------------------------------- turbo switch on 1 | ------------------------------------------------------------------- turbo switch off 0 | ------------------------------------------------------------------- fine control switch on 1 | ------------------------------------------------------------------- fine control switch off 0 | ------------------------------------------------------------------- joystick switch one joystick 0 | ------------------------------------------------------------------- joystick switch two joysticks 1 | ------------------------------------------------------------------- debug statements joystick inputs fine control switch turbo switch joystick switch ( 1 or 2 )