   Serial.print(axis_x);
   Serial.print("  y: ");
   Serial.println(axis_y);
-  delay(500);
-}
-
-int joystickMixingHack(int thrust){
-  if (thrust > 128) {
-    return 128 - (thrust - 128);
-  }
-  return thrust;
+  delay(50);
 }
 
 int getMagnitude(int x, int y){

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

Motor* m_motor_l;
Motor* m_motor_r;


    }
  }
  
  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);
