[hoag]

If anything is moving in the wrong direction, you could just subtract the Limit_Mix result from 254. (To reverse direction)

for the right motor I use
(254-(Limit_Mix(2000 + p1_y + p1_x - 127)));


for the left motor I use
(Limit_Mix(2000 + p1_y - p1_x + 127));


I've used this setup for all of my team's robots.