def moveByAxis(self, x, y):
        
        if x == 0.0 and y == 0.0:
            # nowhere to move, stop
            self.motor.stop()
        elif x == 0:
            # only forward / backward
            if y < 0:
                self.motor.backward()
            else:
                self.motor.forward()
        else:
            angle = math.degrees(math.atan(y/x))
            angle += 180 if x < 0 else 360
            angle = angle % 360
            
            if angle == 0:
                self.motor.forwardRight()
            elif angle == 180:
                self.motor.forwardLeft()
            if angle > 0 and angle < 90:
                # forwardRight
                self.motor.forwardRight()
                time.sleep(self.motor.SEC_PER_TURN / 360.0 * angle)
                self.motor.forward()
                time.sleep(5.0 / self.motor.DIST_PER_SEC) # move 5cm forward
            elif angle > 90 and angle < 180:
                # forwardLeft
                angle -= 90
                self.motor.forwardLeft()
                time.sleep(self.motor.SEC_PER_TURN / 360.0 * angle)
                self.motor.forward()
                time.sleep(5.0 / self.motor.DIST_PER_SEC) # move 5cm forward

    
    def xboxControl(self):
        joy = xbox.Joystick()
        while not joy.Back():
        
            
            # button A to stop
            if joy.A():
                self.motor.stop()
            else:
                # left joystick to move
                x, y = joy.leftStick()
                self.moveByAxis(x, y)
                    
        joy.close()