 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;
 

    }
  }
  
  m_motor_l->applyThrust(m_left_thrust);
  m_motor_r->applyThrust(m_right_thrust);
  
  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) - 127; // adjusted to calibrate joystick slightly (joystick a bit out of whack)
  int axis_y = map(analogRead(Y_pin), 0, 1023, 0, 255) - 127;
      
  if (abs(axis_x) < threshold) {
    axis_x = 0;
