[slloyd]

hey, that code is assuming that the shaft of the two motors are facing each other...

if you mount your motors with the shafts pointing away from each other then your motors will run backwards (up on joystick means drive backwards, left on joystick causes robot to turn right).

you need to invert the signal in the code to support the motors aligned with shafts facing away.

try this modification:

p1_x = p1_y- 255 ;
p1_y = pwm05 - 255;

slloyd