def METHOD_NAME(self, command):
    """
    convert incoming command into velocity
    """
    right = 0.0
    forward = 0.0
    down = 0.0
    yaw = 0.0
    command = int(command)
    if command & J_RIGHT:
        right += 2.0
    if command & J_LEFT:
        right -= 2.0
    if command & J_UP:
        forward += 2.0
    if command & J_DOWN:
        forward -= 2.0
    if command & J_A:
        down -= 1.0
    if command & J_B:
        down += 1.0
    if command & J_START:
        yaw += radians(20)
    if command & J_SELECT:
        yaw -= radians(20)
    self.move_at_body_vel(forward, right, down, yaw)