 
 void loop() {
   // put your main code here, to run repeatedly:
-Serial.println(analogRead(X_pin));
+  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);
+  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;

  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;
}

int getMagnitude(int x, int y){

    }
  }
  
  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);
