A method for controlling a machine with a dual path electronically controlled hydrostatic transmission, the method comprising: providing a machine having an engine and an electronically controlled hydrostatic transmission, the electronically controlled hydrostatic transmission including an input device, a first drive system and a second drive system, each of the first drive system and the second drive system having at least one pump (206, 210) and at least one motor (204, 208) controlled by a corresponding solenoid, the input device providing propulsion and steering commands for the first drive system and the second drive system; generating current commands for the solenoid of the at least one pump (206, 210) and the at least one motor (204, 208) of each of the first drive system and the second drive system based on the propulsion command, the steering command and at least one measured machine operating parameter; and applying the current commands to the solenoids of the at least one pump (206, 210) and the at least one motor (204, 208) of each of the first drive system and the second drive system; wherein said generating current commands for the solenoids includes: calculating a first command based on the propulsion command, a brake pedal position, a speed setting and a reference engine speed; converting the first command into a pump displacement value and a motor displacement value; determining a modified motor displacement value from the motor displacement value and the steering command; and determining a modified pump displacement value from the pump displacement value and the steering command; wherein said determining a modified pump displacement value includes: modifying the pump displacement value by a ramping block to reduce a rate of change of pump displacement values; or said determining a modified motor displacement value includes determining a first motor displacement value and a second motor displacement value; and said determining a modified pump displacement value includes determining a first pump displacement value and a second pump displacement value; determining a first pump steering multiplier based on the steering command; determining a second pump steering multiplier based on the steering command; generating the first pump displacement value by multiplying the first pump steering multiplier and the pump displacement value; and generating the second pump displacement value by multiplying the second pump steering multiplier and the pump displacement value. providing a machine having an engine and an electronically controlled hydrostatic transmission, the electronically controlled hydrostatic transmission including an input device, a first drive system and a second drive system, each of the first drive system and the second drive system having at least one pump (206, 210) and at least one motor (204, 208) controlled by a corresponding solenoid, the input device providing propulsion and steering commands for the first drive system and the second drive system; generating current commands for the solenoid of the at least one pump (206, 210) and the at least one motor (204, 208) of each of the first drive system and the second drive system based on the propulsion command, the steering command and at least one measured machine operating parameter; and calculating a first command based on the propulsion command, a brake pedal position, a speed setting and a reference engine speed; converting the first command into a pump displacement value and a motor displacement value; determining a modified motor displacement value from the motor displacement value and the steering command; and determining a modified pump displacement value from the pump displacement value and the steering command; converting the first command into a pump displacement value and a motor displacement value; determining a modified motor displacement value from the motor displacement value and the steering command; and determining a modified pump displacement value from the pump displacement value and the steering command; modifying the pump displacement value by a ramping block to reduce a rate of change of pump displacement values; or said determining a modified motor displacement value includes determining a first motor displacement value and a second motor displacement value; and said determining a modified pump displacement value includes determining a first pump displacement value and a second pump displacement value; said determining a modified motor displacement value includes determining a first motor displacement value and a second motor displacement value; and said determining a modified pump displacement value includes determining a first pump displacement value and a second pump displacement value; determining a first pump steering multiplier based on the steering command; determining a second pump steering multiplier based on the steering command; generating the first pump displacement value by multiplying the first pump steering multiplier and the pump displacement value; and generating the second pump displacement value by multiplying the second pump steering multiplier and the pump displacement value.