diff --git a/src/Robot.cpp b/src/Robot.cpp
index 70fb409..ed81880 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -111,8 +111,8 @@ private:
 	{
 		if (driver_stick.GetRawButton(THUMB))
 		{
-			left_drive.Set(driver_stick.GetThrottle() * driver_stick.GetTwist);
-			right_drive.Set(-1 * driver_stick.GetThrottle() * driver_stick.GetTwist);
+			left_drive.Set(driver_stick.GetThrottle() * driver_stick.GetTwist());
+			right_drive.Set(-1 * driver_stick.GetThrottle() * driver_stick.GetTwist());
 		}
 		else
 		{
@@ -184,8 +184,43 @@ private:
 			old_theta = theta;
 			if (theta < 0.125)
 			{
-				left_drive.Set(1);
-				right_drive.Set()
+				left_drive.Set(1 * driver_stick.GetThrottle());
+				right_drive.Set((0.25 + 0.25 * 8 * theta) * driver_stick.GetThrottle());
+			}
+			else if (theta < 0.25)
+			{
+				left_drive.Set(1 * driver_stick.GetThrottle());
+				right_drive.Set((0.5 + 0.5 * 8 * (theta - 0.125)) * driver_stick.GetThrottle());
+			}
+			else if (theta < .375)
+			{
+				left_drive.Set((1 - 0.5 * 8 * (theta - 0.25)) * driver_stick.GetThrottle());
+				right_drive.Set(1 * driver_stick.GetThrottle());
+			}
+			else if (theta < 0.5)
+			{
+				left_drive.Set((0.5 - 0.25 * 8 * (theta - 0.375)) * driver_stick.GetThrottle());
+				right_drive.Set(1 * driver_stick.GetThrottle());
+			}
+			else if (theta < 0.625)
+			{
+				left_drive.Set((0.25 - 0.25 * 8 * (theta - 0.5)) * driver_stick.GetThrottle());
+				right_drive.Set((1 - 8 * (theta - 0.5)) * driver_stick.GetThrottle());
+			}
+			else if (theta < 0.75)
+			{
+				left_drive.Set(-8 * (theta - 0.625) * driver_stick.GetThrottle());
+				right_drive.Set(-8 * (theta - 0.625) * driver_stick.GetThrottle());
+			}
+			else if (theta < 0.875)
+			{
+				left_drive.Set((8 * (theta - 0.75) - 1) * driver_stick.GetThrottle());
+				right_drive.Set((8 * (theta - 0.75) - 1) * driver_stick.GetThrottle());
+			}
+			else
+			{
+				left_drive.Set(8 * (theta - 0.75) * driver_stick.GetThrottle());
+				right_drive.Set(0.25 * 8 * (theta - 0.75) * driver_stick.GetThrottle());
 			}
 		}
 	}