     }
   }
   
-  m_motor_l->applyThrust(m_left_thrust);
-  m_motor_r->applyThrust(m_right_thrust);
+  m_motor_l->applyThrust(constrain(m_left_thrust * m_factor, -255, 255));
+  m_motor_r->applyThrust(constrain(m_right_thrust * m_factor, -255, 255));
   
   Serial.print("Mag: ");
   Serial.print(mag);


void loop() {
  // put your main code here, to run repeatedly:
Serial.println(analogRead(X_pin));
  Serial.println(analogRead(Y_pin));
  int axis_x = map(analogRead(X_pin), 0, 1023, 0, 255) - 128; // adjusted to calibrate joystick slightly (joystick a bit out of whack)
  int axis_y = map(analogRead(Y_pin), 0, 1023, 0, 255) - 128;
  //servo1.write(joyVal);
  delay(50);
      
  if (abs(axis_x) < threshold) {
    axis_x = 0;

const int L_EN_R = 12;
const int R_EN_R = 13;

const int m_factor = 2;
Motor* m_motor_l;
Motor* m_motor_r;

