[Kevin Sevcik]

Oh, I kind of skimmed your original post. Didn't realize the problem was only when you were backing up. I think the behavior you describe is actually the correct behavior for most usual "Arcade Drive" setups. Left-right on the joystick controls rotation direction and speed. Front-Back controls forwards-backwards motion. The behavior you describe just follows from there. If you're turning clockwise and moving forward (away from the driver), the robot turns to the driver's right. If you're turning clockwise and moving backward (towards the driver), the robot moves to the driver's left.

If you want different behavior, you'll have to program it yourself. It's tricky to get the robot to spin in place, turn the "same direction" moving forwards and backwards, and not destroy motors and gearboxes when you go from moving forwards to moving backwards.