diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index f95cbc47a..12500b550 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -98,6 +98,12 @@ static void update_pwm (int rc_x, int rc_y) {
     // CONTINOUS UPDATE
     int x_val = x;
     int y_val = y;
+    int x_centered = x_val - 2048;
+    int y_centered = x_val - 2048;
+    int motor_a_dir = y_centered >= 0 ? 1 : -1;
+    int motor_b_dir = y_centered >= 0 ? 1 : -1;
+    int motor_a_speed = abs(y_centered) * 255 / 2048;
+    int motor_a_speed = abs(y_centered) * 255 / 2048;
 
     
     // Turn Left