Connect PWM Joystick

I've got an HBL2390 driving two brushless motors (it's going to be a wheelchair). I can use the Roborun+ utility to control the motors over a serial line - it all works fine using the Roborun sliders.

I now want to connect a PWM joystick and it looks like I ought to be able to use Roborun to configure the HBL2390 to respond properly to joystick input. It's an x-y joystick so I want to push the joystick forward (i.e. y positive) to make both motors go forward; joystick forward-right to make the right motor stop; and so on. All standard stuff.

I've connected the joystick to the 25-pin connector. x-axis into pin 15, y-axis into pin 16.

On the Configuration page, I've set Pulse Inputs / Pin 1 / Capture Type: Duty Cycle; Input Use: Motor Command 1. And I've set Pin 2 the same way.

On the Run page, I can see the numbers appearing in the Pulse In box. They range from 0 to 4000 as I move the joystick with the centre position being 2000 (approx).

I can't work out how to configure the HBL2390 to accept that as motor commands.

If I click the Mute then the motors just go at full speed forwards.

What am I doing wrong? It it documented somewhere?

Thanks

Peter

On the configuration page,

Power Output / Motor 1 / Motor Output / Speed and Acceleration / Operating Mode: Open Loop

Is that what you mean?

That's how I've had it set up for the "sliders" in Roborun and it's been well-behaved.

Peter

Motor Command 1 and Motor Power 1 are at zero and the wheels are stationary. The Pulse In pane reports Pin 1 2016, Pin 2 2010.

I click the Mute box.

Motor Command 1 and Motor Power 1 both go to 1000 and the wheels spin like crazy.

Peter

They remained unchanged at a little over 2000.

Shall I send you a screenshot or save the setup and send it?

Peter

Aha! If I try different joystick positions, I can get the motors to go at high-speed forwards or backwards.

It looks like I need to configure the joystick centre and slope.

Peter

That did it.

Thanks. I hadn't discovered those settings boxes.

It now works with the x-axis controlling the left motor and the y-axis controlling the right motor. I presume there's some way of combining them to give a "skid steer". Is that what you call "mixed mode"?

Peter