void Arcade(int x, int y) // make joystick arcade style controller
{
    int powY;
    int powX;
    int powRightMotor;
    int powLeftMotor;

    // convert joystick -128 to 127 range to -100 to 100 for powering motors
    powY = (y * 100) / 127;         // joystick y axis gives maximum power level
    powX = (x * 100) / 127;         // x axis determines which motor is reduced or
                                    // reversed for a turn

    if (powX < 0) //  if x negative, turning left; otherwise, turning right
    {
        powLeftMotor = (powY * (100 + (2 * powX))/100); // left motor reduced for right turn
        powRightMotor = powY;                           // right motor not changed
    }
    else
    {
        powRightMotor = (powY * (100 - (2 * powX))/100); // right motor reduced for left turn
        powLeftMotor = powY;                            // left motor not changed
    }

    motor[motorRight] = powRight;
    motor[motorLeft]  = powLeft;
}

task main()
{
    while (true)
    {
       getJoystickSettings(joystick);
       Arcade(joystick.joy1_x1, joystick.joy1_y1);
    }
}