[Steve_Alaniz]

DO you want the explanation of the one joystick formula... how they are derived? It's a bit long winded but not complicated. If that's what you want I can post it.
The function you are showing creates a curve based on the cubic values of the inputs. This makes the joystick less sensitive to start up and more sensitive once the bot is going.
Not sure you can "improve" on the one joystick formulas but you can customize them.