[From Gustav Kuhn, received 5/5/2004]

The new hex file uses default setup values from my robot, so the
controller should do something, at switch-on.  For bi-directional control,
all the jumpers will be open.  To setup max, min and neutral, you need to
keep the stick in that position, while shorting the corresponding jumper,
for about 3 seconds.  To reboot the pic, and erase the eeprom, short
that jumper, remove and reconnect supply, remove the jumper.  Now the pic
will do nothing, until you go through the setup procedure again.  I found
the best is to first do the max stick, then the min stick, then neutral.
If this doesn't work, your RC set has min and max reversed, so put the
max jumper on, but move the stick to min position.  I've now repeatedly
re-programmed three different 16F84A's, the code does definately work.
I also found it is best to use a separate battery to power the RX and
pic, so for bidirectional control I'm leaving out 5V regulator, and the
P-channel brake FET.

[added 6/14/2004]

I've come across a small problem, when using some of the older Futaba
receivers with this circuit. It seems they can't sink the 5 V present
on the pic's pin 6. The fix is quite simple, just add a 5K6 resistor
from pin 6 to ground. Without this fix, the operation of the controller
was erratic, or downright not working!