void ShaftTankDrive()
{
  // This flips the motors around so they go in the right direction
  bMotorFlippedMode[port2] = 0;
  bMotorFlippedMode[port3] = 1;
  bMotorFlippedMode[port4] = 0;
  bMotorFlippedMode[port5] = 1;

  // Now lets define the temporary variables
  int LeftSide;
  int RightSide;

  int ChangeVar;
  //int SensorAverage;

  // Amount to speed up/slow down by
  ChangeVar = (Sensors.in1 - Sensors.in2);

  // Are we there yet? >:(
  //SensorAverage = (Sensors.in1 + Sensors.in2) / 2;

  LeftSide = Controller.Ch3 - ChangeVar;
  LeftSide = Math_Clamp(LeftSide,-127,127);

  RightSide = Controller.Ch2 + ChangeVar;
  RightSide = Math_Clamp(RightSide,-127,127);

  // This sets motor ports 1 and 2 to Controller.Ch2 value, 3 and 4 to Controller.Ch3 value.
  Motors.mtr2 = Math_Clamp(RightSide, -127, 127);
  Motors.mtr3 = Math_Clamp(RightSide, -127, 127);
  Motors.mtr4 = Math_Clamp(LeftSide, -127, 127);
  Motors.mtr5 = Math_Clamp(LeftSide, -127, 127);
}