x = 0.0
y = 0.0
r = 0.0
n = (abs(x) + abs(y) + abs(r))/100.0

base_value = 305
pwm_range = 165

front_right_thruster_value = base_value
front_left_thruster_value  = base_value
back_right_thruster_value  = base_value
back_left_thruster_value   = base_value

if n != 0:
    front_right_thruster_value = base_value + pwm_range*( float(x/-100) + float(y/100) + float(r/-100) ) * (1.0/n)
    front_left_thruster_value  = base_value + pwm_range*( float(x/100)  + float(y/100) + float(r/100) ) * (1.0/n)
    back_right_thruster_value  = base_value + pwm_range*( float(x/100)  + float(y/100) + float(r/-100) ) * (1.0/n)
    back_left_thruster_value   = base_value + pwm_range*( float(x/-100) + float(y/100) + float(r/100) ) * (1.0/n)