int LeftTrack = abs(pad_y) * 10;
int RightTrack = abs(pad_y) * 10;
int k = 1;  // some turning intensity koef

if (pad_x < 0 || pad_y == 0) {
  LeftTrack = LeftTrack + k * pad_x * 10;
}

if (pad_x > 0 || pad_y == 0) {
  RightTrack = RightTrack - k * pad_x * 10;
}

if (pad_y < 0) {
  LeftTrack = LeftTrack * (-1);
  RightTrack = RightTrack * (-1);
}

// Left driver
SoftPWMSetPercent(MotA1, LeftTrack > 0 ? LeftTrack : 0);    // move forward
SoftPWMSetPercent(MotA2, LeftTrack < 0 ? abs(LeftTrack) : 0);  // move backward

// right driver
SoftPWMSetPercent(MotB1, RightTrack > 0 ? RightTrack : 0);  // move forward
SoftPWMSetPercent(MotB2, RightTrack < 0 ? abs(RightTrack) : 0);  // move backward