RC control is ok

CG_MarioKart.ino

@@ -65,24 +65,40 @@ void loop() {
   
   //Refresh and scale raw move values
   move = map(ch2, 1000,2000, -255, 255); //center over zero
-  
+  move = constrain(move, -255, 255);
 //  turn = map(ch1,1000,2000,-255,255);
 //  turn = constrain(turn, -255, 255);
   turn = map(ch1,1000,2000,-255,255);
-  turn = constrain(turn, -move, move);
+ 
+
+  Serial.print("move:"); //Serial debugging stuff
+  Serial.println(move);
+  
+  Serial.print("turn:"); //Serial debugging stuff
+  Serial.println(turn);
   
   //calculate each motor speed
   int speeds[2] = {0, 0} ;
-  int dirs[2] = {0, 0} ;
+//  int dirs[2] = {0, 0} ;
+  
+  int Dir = move>0 ? 1 : 0;
+  move = abs(move) ;
+  turn = constrain(turn, -move, move);
+  if (turn>0) { speeds[0] = move; speeds[1] = move - turn  ; }
+  if (turn<=0) { speeds[0] = move + turn ; speeds[1] = move   ; 
+    }
+//  speeds[1] = move  ; 
+//  speeds[0] = move   ;
+  Serial.print("speeds: "); //Serial debugging stuff
+  Serial.print(speeds[0]);
+  Serial.print(" - "); 
+  Serial.println(speeds[1]);
   
-  if (turn>0) { speeds[0] = move; speeds[1] = move - turn; }
-  else {turn=abs(turn); speeds[0] = move-turn; speeds[1] = move ;}
-
   //apply to driver
   for(int i =0; i<2; i++) {
-    dirs[i] = speeds[i] > 0 ? 1 : 0 ;
+//    dirs[i] = speeds[i] > 0 ? 1 : 0 ;
     speeds[i] = abs( speeds[i]);
-    digitalWrite(dirs_pin[i], dirs[i]) ;
+    digitalWrite(dirs_pin[i], Dir) ;
     analogWrite(speeds_pin[i], speeds[i]) ;
     
   }
@@ -97,18 +113,21 @@ void loop() {
 //  if(turn<0){turn=abs(turn); analogWrite(pwm_a, move-turn); analogWrite(pwm_b, move);};
 ////  analogWrite(pwm_b, move); analogWrite(pwm_a, move);
   
-  Serial.print("move:"); //Serial debugging stuff
-  Serial.println(move);
   
-  Serial.print("turn:"); //Serial debugging stuff
-  Serial.println(turn);
   
-  Serial.print("move-turn:"); //Serial debugging stuff
-  Serial.println(move-turn);
+  Serial.print("A: "); //Serial debugging stuff
+  Serial.print(speeds[0]); 
+  Serial.print(" - "); 
+//  Serial.println(dirs[0]);
+  
+  Serial.print("B: "); //Serial debugging stuff
+  Serial.print(speeds[1]); 
+  Serial.print(" - "); 
+//  Serial.println(dirs[1]);
   
   Serial.println(); //Serial debugging stuff
   Serial.println();
-  Serial.println();
+//  Serial.println();
 
 }