[Roger]

As always, follow the code.

Carefully.

With a piece of paper and pen.

Write down numbers, and how each line of code changes those numbers. From Joystick to Motor. Somewhere you have a sign going the wrong way, or more likely, not understanding what the joystick is giving you. This is a very common issue.

Have your electrical crew check their wires, to be sure, but this sounds like you have to check your code.