If chkMixing Then
	'stickx = steering
	' y = throttle
	' work out diflection from centre on steering as a percentage
	' multiply by throttle
	' add to correct side
	' cases 0 steering
	' left
	' right
	Dim Throttle As Long
	Dim Steering As Long
	Dim Flip As Boolean
	Dim LastFlipState As Boolean
	
	'false = up true = down

	'buffer vars
	Throttle = StickX
	Steering = StickY
	
	'corrections for wiring in bot/driver stupidity, i mean really which way is the front?
	If chkReverseSteering Then Steering = Steering * -1
	If chkRevThrottle Then Throttle = Throttle * -1
	
	'this makes the steering change direction dependant on throttle IE you can drive an arc by holding right stick and going forwards/backwards rather than an S
	If chkSROT And Throttle < 0 Then Steering = Steering - 1
	
	
	Dim Diflection As Double
	Dim Slowdown As Double
	
	'"Ram Mode" steering cuts the sensitivity of the steering stick, needs tweaking per bot
	If JoystickState.buttons(11) = 128 Then
	    Shape1.FillColor = 255
	    Steering = Steering / 4
	Else
	    Shape1.FillColor = 0
	End If
	
	'work out where the steering stick is then multiply it by the throttle to get the abs value we need to slow the inside motor by
	Diflection = (Throttle / 32767) * 2
	Slowdown = Diflection * Steering
	
	'reverse which motor if we are flipped
	If chkFlip Then
	    Steering = Steering * -1
	    Throttle = Throttle * -1
	End If
	
	'both = full forward
	'StickX = StickX
	'StickY = StickX
	
	'apply the slowdown depending on which way we are turning
	Select Case Steering
	    Case Is < 0 'left
	        StickX = Throttle
	        StickY = Throttle + Slowdown
	        
	    Case Is > 0 ' right
	        StickY = Throttle
	        StickX = Throttle - Slowdown
	        
	    Case Is = 0 ' straight
	        StickX = Throttle
	        StickY = Throttle
	End Select
	
End If