   void loop() {
     drive();//continuously drive motor
   }
-  void drive(int x, int y, int velocity)//sends control signal to motor shield
+  void drive(int x, int y)//sends control signal to motor shield
   {
     int speed0;//speed left motor
     int speed1;//speed right motor
-    int direction0;//direction left motor
-    int direction1;//direction right motor
-    calcultateSpeedDirection (x, y, velocity);//calculate parameters
+    int direction0 = CW; //direction left motor
+    int direction1 = CW; //direction right motor
+    calcultateSpeedDirection (x, y);//calculate parameters
+    speed0 = map(velocityLeft, 0, controllerMax, 0, 255);
+    speed1 = map(velocityRight, 0, controllerMax, 0, 255);
     adjustMotor(0, direction0, speed0);//run left motor
     adjustMotor (1, direction1, speed1);//run right motor
   }


void setup() {
  Serial.begin(9600);

  {

  }
  void calcultateSpeedDirection (x, y)//converts input in controller-format to suitable combination of track movements
  {
    int velocityLeft = (x / 2) + y;//compute velociy left track
    if (velocityLeft < 0)// if needed change left direction
    {
      directionLeft = CCW;
    }
    int velocityRight = ((-x) / 2) + y;//see Left
    if (velocityRight < 0)
    {
      directionRight = CCW;//see Left
    }
  }
