[JohnC]

This was last year's drive code:

if(p1_sw_trig && p2_sw_trig) {
  Left(p1_y);
  Right(p2_y);
} else {
  Left(Scale_Offset(p1_y,driveScale);
  Right(Scale_Offset(p2_y,driveScale);
}

//later, not in the routine that loops every 26.2 ms...

int driveScale = 3;

int Scale_Offset(int speed, int scaleFactor) {
  return ((speed-127)/scaleFactor) + 127;
}

It worked really well for us