protected void calculateInput() {

        move = -oi.getRawAnalogStickALX();
        move = Math.abs(move) > threshold ? move : 0;
        turn = oi.getRawAnalogStickALY();
        turn = Math.abs(turn) > threshold ? turn : 0;

        double moveR = -oi.getRawAnalogStickARX()* 3 / 4;    //I changed this because the right stick is too sluggish.
        moveR = Math.abs(moveR) > threshold ? moveR : 0;
        double turnR = oi.getRawAnalogStickARY()* 3 / 4;   //I changed this because the right stick is too sluggish.
        turnR = Math.abs(turnR) > threshold ? turnR : 0;

        move += moveR;
        turn += turnR;

        if (movePrev - move > rampThreshold) {
            move = movePrev - rampThreshold;
        } else if (move - movePrev > rampThreshold) {
            move = movePrev + rampThreshold;
        }
        if (turnPrev - turn > rampThreshold) {
            turn = turnPrev - rampThreshold;
        } else if (turn - turnPrev > rampThreshold) {
            turn = turnPrev + rampThreshold;
        }

        movePrev = move;
        turnPrev = turn;

    }