Left_Drive_Value = p1_y; //Get left drive (we're a skid-steer)
		Right_Drive_Value = p2_y;  //Get right drive (we're a skid-steer)

		//If our sticks show the opposite direction from the previous loop, reset count_2 to zero.  This will allow the brake to stop us to 127, then allow count_2 to ramp up.
		if (((Left_Drive_Value < 127) && (Right_Drive_Value < 127) && (Old_Right_Drive_Value > 127) && (Old_Left_Drive_Value > 127)) || ((Left_Drive_Value > 127) && (Right_Drive_Value > 127) && (Old_Right_Drive_Value > 127) && (Old_Left_Drive_Value > 127)))
			count_2 = 0;

		//While there is a difference greater than 50, moderate the decel
		if (((Old_Right_Drive_Value - Right_Drive_Value) > 50) && ((Old_Left_Drive_Value - Left_Drive_Value) > 50) && (Left_Drive_Value < 127) && (Right_Drive_Value < 127) && (count == 3))
		{
			Old_Left_Drive_Value = 127 - count_2;
			Old_Right_Drive_Value = 127 - count_2;
			count_2 = count_2 + 1;
			if (count_2 > 127)
				count_2 = 127;  Limit Count 2
			count = 0;  //Count allows us to only go into the if/then every 3 loops.  Without this, the pic loops too quickly and doesn't ever see a radical shift of the joysticks
		}
		//While there is a difference greater than 50, moderate the accel
		else if (((Old_Right_Drive_Value - Right_Drive_Value) < -50) && ((Old_Left_Drive_Value - Left_Drive_Value) < -50) && (Left_Drive_Value > 127) && (Right_Drive_Value > 127) && (count == 3))
	  	{
			Old_Left_Drive_Value = 127 + count_2;
			Old_Right_Drive_Value = 127 + count_2;
			count_2 = count_2 + 1;
			if (count_2 > 127)
				count_2 = 127;
			count = 0;  //Count allows us to only go into the if/then every 3 loops.  Without this, the pic loops too quickly and doesn't ever see a radical shift of the joysticks
			//printf("We got to 6\r\n");
		}
		else if (count == 3)  //If we've gone three loops but the values don't show we need to moderate accel / decel, then reset the old drive values.
		{
			Old_Left_Drive_Value = Left_Drive_Value;
			Old_Right_Drive_Value = Right_Drive_Value;
			count = 0;  //Count allows us to only go into the if/then every 3 loops.  Without this, the pic loops too quickly and doesn't ever see a radical shift of the joysticks
			count_2 = 0;
		}

		if (Old_Left_Drive_Value > 255)  //Insure we stay within range.
			Old_Left_Drive_Value = 255;
		else if (Old_Left_Drive_Value < 0)
			Old_Left_Drive_Value = 0;

		if (Old_Right_Drive_Value > 255)  //Insure we stay within range.
			Old_Right_Drive_Value = 255;
		else if (Old_Right_Drive_Value < 0)
			Old_Right_Drive_Value = 0;

		Left_Drive = Old_Left_Drive_Value;
		Right_Drive = Old_Right_Drive_Value;