Well, just glancing over your code, there are a few things that pop out at me:
First, on your left and right arm control bits of code, you have all right arm values multiplied by 25 whereas on the left, you have a few different numbers.
Code:
'LEFT ARM CONTROL
LeftShoulderVertical = (LeftShoulderVertical - Dpad_DOWN*60 + Dpad_UP*60) MAX 2200 MIN 750 'Move Left Shoulder Vertically.
LeftArmVertical = (LeftArmVertical - Dpad_DOWN*50 + Dpad_UP*50) MAX 2100 MIN 1000 'Move Left Shoulder Vertically.
LeftArmTwist = (LeftArmTwist - Dpad_RIGHT*50 + Dpad_LEFT*50) MAX 2250 MIN 750 'Rotate ForeArm.
LeftClawPosition = (LeftClawPosition - Button_L1*100 + Button_L2*100) MAX 2200 MIN 1900 'Claw Gripper.
Code:
'RIGHT ARM CONTROL
RightShoulderVertical = (RightShoulderVertical - Button_A*25 + Button_X*25) MAX 2250 MIN 750 'Move Left Shoulder Vertically.
RightArmVertical = (RightArmVertical - Button_A*25 + Button_X*25) MAX 2250 MIN 750 'Move Left Shoulder Vertically.
RightArmTwist = (RightArmTwist - Button_O*25 + Button_S*25) MAX 2250 MIN 750 'Rotate ForeArm.
RightClawPosition = (RightClawPosition - Button_R2*25 + Button_R1*25) MAX 2250 MIN 750 'Claw Gripper.
Next, there's this bit, where you have pulsouts to your servos on the bot board... and then again on the SSC-32! Comment out the pulsouts and your program may be a bit more responsive. That's where I found your problem though, although you may kick yourself once I tell ya.
Code:
' Send out the servo pulses
pulsout 0,(ldrive*2) ' Left Scorpion channel.
pulsout 1,(rdrive*2) ' Right Scorpion channel.
pulsout 2,(WaistRotate*2) ' Torso Pan servo.
pulsout 3,(TorsoVertical*2) ' Torso Tilt servo.
pulsout LEFTGRIP_UD,(LeftShoulderVertical*2) ' LeftShoulder up/down servo.
pulsout LEFTGRIP_Rot,(LeftArmTwist*2) ' Left Arm Twist servo.
pulsout LEFTGRIP_OC,(LeftClawPosition*2) ' Left Gripper open/close servo.
pulsout RIGHTGRIP_UD,(RightShoulderVertical*2) ' RightShoulder up/down servo.
pulsout RIGHTGRIP_Rot,(RightArmTwist*2) ' Right Arm Twist servo.
pulsout RIGHTGRIP_OC,(RightClawPosition*2) ' Right Gripper open/close servo.
' pulsout 15,servo5
pause 20
serout SSC_OUT,i38400,["#0P", DEC WaistRotate, "#1P", DEC TorsoVertical, "#2P", DEC LeftShoulderVertical, "#3P", DEC LeftArmVertical, "#4P", DEC LeftArmTwist, "#5P", DEC LeftClawPosition, "#6P", RightShoulderVertical, "#7P",RightArmVertical, "#8P",RightArmTwist, "#9P",RightClawPosition, "#30P", DEC ldrive, "#31P", DEC rdrive, 13]
Here's your problem line. You just left out a few DECs for the right arm. Here is the code as it should be written:
Code:
serout SSC_OUT,i38400,["#0P", DEC WaistRotate, "#1P", DEC TorsoVertical, "#2P", DEC LeftShoulderVertical, "#3P", DEC LeftArmVertical, "#4P", DEC LeftArmTwist, "#5P", DEC LeftClawPosition, "#6P", DEC RightShoulderVertical, "#7P", DEC RightArmVertical, "#8P", DEC RightArmTwist, "#9P", DEC RightClawPosition, "#30P", DEC ldrive, "#31P", DEC rdrive, 13]
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Very nice skin 
Thanks for catching that, that was incredibly helpful 
Hopefully one day I will get better at this stuff.
