[wireties]

Off the top of my head it sounds like you are using tank drive mode with 2 joysticks. So the left and right motors are controlled by the y axis of 2 joysticks.

What gear tooth code do you have? Where did you get it? In general, the gear tooth sensor is hooked up to a digital input that generates an interrupt and you count the number of teeth passing by with each interrupt. So there are two pieces of the code, one in an interrupt context and another in your user routines that accesses and uses the count. But we need a little more information to be able to help you.

HTH