[Astronouth7303]

If a look-up table is semetric (meaning the values below 127 are just as low as the values above are high), then you can cut the table size in half.

Here's my code for it:

const rom signed char JOYSTICK_SMOOTHING[128] = 
{
0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 2, 2,
2, 2, 3, 3, 3, 3, 4, 4, 5, 5, 5, 6, 6, 7, 7, 8,
8, 9, 9, 10, 10, 11, 11, 12, 13, 13, 14, 14, 15, 16, 17, 17,
18, 19, 20, 20, 21, 22, 23, 24, 25, 25, 26, 27, 28, 29, 30, 31,
32, 33, 34, 35, 36, 37, 38, 39, 41, 42, 43, 44, 45, 46, 48, 49,
50, 51, 53, 54, 55, 56, 58, 59, 61, 62, 63, 65, 66, 68, 69, 71,
72, 74, 75, 77, 78, 80, 81, 83, 85, 86, 88, 89, 91, 93, 95, 96,
98, 100, 102, 103, 105, 107, 109, 111, 113, 114, 116, 118, 120, 122, 124, 126
};

void Drive_Joystick(char Left, char Right)
{
	if(Left > 127)
	{
		Left_CIM = Left_Drill =  (128 + JOYSTICK_SMOOTHING[Left - 127]);
	}
	else
	{
		Left_CIM = Left_Drill = (127 - JOYSTICK_SMOOTHING[127 - Left]);
    }
    
//	Right_CIM = Right_Drill = Right;
   	if(Right > 127)
	{
		Right_CIM = Right_Drill =  (128 + JOYSTICK_SMOOTHING[Right - 127]);
	}
	else
	{
		Right_CIM = Right_Drill = (127 - JOYSTICK_SMOOTHING[127 - Right]);
    }
}

Note: Each side had 2 motors which always had to be the same value. They were named CIM and Drill (guess what kind they were). So Left_CIM and Left_Drill were the left-side motors and Right_CIM and Right_Drill were the right-side motors.

This could be reduced to a macro:

#define SMOOTHED_VALUE(joy) ( (128 + JOYSTICK_SMOOTHING[(((joy)>127) ? ((joy) - 127) : (127 - (joy)))]) )

(Macros are kinda like Perl one-liners: only the author really knows what's going on.)