This code uses a Teensy 3.2 microcontroller as a base to recieve analog inputs from a 2 axis joystick and send them via I2C communication to Pololu Tic motor drivers.
The code is based on code available on the Pololu github page here. It is slightly altered to allow for analog input from the 2-axis joystick.
In order to run this code, you must have the latest version of the Arduino software avaiable here and the latest version of the Teensyduino software add-on avaiable here. In addition, the Tic Arduino library must be installed. A description of how to install it can be found here.
The entire circuit fits on a half-size breadboard. Complete circuit diagram coming soon.