if (mydata.rightStickUp > 0)
      {
        if (mydata.leftStickLeft > 0)
        {
          leftMotorSpeed = mydata.rightStickUp - mydata.leftStickLeft;
          rightMotorSpeed = mydata.rightStickUp;
        }
        else if (mydata.leftStickRight > 0)
        {
          leftMotorSpeed = mydata.rightStickUp;
          rightMotorSpeed = mydata.rightStickUp - mydata.leftStickRight;
        }
        else
        {
          leftMotorSpeed = mydata.rightStickUp;
          rightMotorSpeed = mydata.rightStickUp;
        }
        leftMotorsForwards();
        rightMotorsForwards();
      }
      else if (mydata.rightStickUp == 0 && mydata.rightStickDown == 0)
      {
        if (mydata.leftStickLeft > 0)
        {
          leftMotorSpeed = mydata.leftStickLeft;
          rightMotorSpeed = mydata.leftStickLeft;

          leftMotorsBackwards();
          rightMotorsForwards();
        }
        else if (mydata.leftStickRight > 0)
        {
          leftMotorSpeed = mydata.leftStickRight;
          rightMotorSpeed = mydata.leftStickRight;

          leftMotorsForwards();
          rightMotorsBackwards();
        }
        else
        {
          leftMotorSpeed = 0;
          rightMotorSpeed = 0;
        }
      }
      else if (mydata.rightStickDown > 0)
      {
        if (mydata.leftStickLeft > 0)
        {
          leftMotorSpeed = mydata.rightStickDown - mydata.leftStickLeft;
          rightMotorSpeed = mydata.rightStickDown;
        }
        else if (mydata.leftStickRight > 0)
        {
          leftMotorSpeed = mydata.rightStickDown;
          rightMotorSpeed = mydata.rightStickDown - mydata.leftStickRight;
        }
        else
        {
          leftMotorSpeed = mydata.rightStickDown;
          rightMotorSpeed = mydata.rightStickDown;
        }

        leftMotorsBackwards();
        rightMotorsBackwards();
      }

      constrain(leftMotorSpeed, 0, 255);
      constrain(rightMotorSpeed, 0, 255);

      analogWrite(ENA, rightMotorSpeed);
      analogWrite(ENB, leftMotorSpeed);