Interesting.
You could also write this as 1 function by passing the joystick & pwm by reference to your acceleration function. Also, there is nothing wrong with modifying the pwm output variable directly, since the actual pwm output value isn't changed until the Putdata() in Process_Data_From_Master_uP().
What happens if the joystick input is 5, your current pwm output is 8, and it decrements the pwm output by 12? At first glance it looks like your temporary value would go negative. I could be wrong though
