diff --git a/src/libs/robottools/rthumandriver.cpp b/src/libs/robottools/rthumandriver.cpp
index 8b5542f2d..a61bed661 100644
--- a/src/libs/robottools/rthumandriver.cpp
+++ b/src/libs/robottools/rthumandriver.cpp
@@ -1029,28 +1029,11 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
     case GFCTRL_TYPE_JOY_AXIS:
         ax0 = joyInfo->ax[cmd[CMD_LEFTSTEER].val];
 
-        // limit and normalise
-        if (ax0 > cmd[CMD_LEFTSTEER].max) {
-            ax0 = cmd[CMD_LEFTSTEER].max;
-        } else if (ax0 < cmd[CMD_LEFTSTEER].min) {
-            ax0 = cmd[CMD_LEFTSTEER].min;
-        }
-        ax0 = (ax0 - cmd[CMD_LEFTSTEER].min) / (cmd[CMD_LEFTSTEER].max - cmd[CMD_LEFTSTEER].min);
-
-        // pow used to indicate the polarity of 'more turn'
-        if (cmd[CMD_LEFTSTEER].pow > 0)
-            ax0 = ax0 - cmd[CMD_LEFTSTEER].deadZone;
-        else 
-            ax0 = 1 - ax0 - cmd[CMD_LEFTSTEER].deadZone;
-
-        if (ax0 < 0) ax0 = 0;
-
-        if (1 - cmd[CMD_LEFTSTEER].deadZone != 0)
-            ax0 = ax0 / (1 - cmd[CMD_LEFTSTEER].deadZone);
-        else
+        if (ax0 > 0.0f) {
             ax0 = 0;
+        }
 
-        leftSteer = fabs(cmd[CMD_LEFTSTEER].pow) * pow(ax0, 1.0f / cmd[CMD_LEFTSTEER].sens) / (1.0 + cmd[CMD_LEFTSTEER].spdSens * car->_speed_xy / 100.0);
+        leftSteer = -ax0;
         break;
     case GFCTRL_TYPE_MOUSE_AXIS:
         ax0 = mouseInfo->ax[cmd[CMD_LEFTSTEER].val] - cmd[CMD_LEFTSTEER].deadZone;
@@ -1117,28 +1100,11 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
     case GFCTRL_TYPE_JOY_AXIS:
         ax0 = joyInfo->ax[cmd[CMD_RIGHTSTEER].val];
 
-        // limit and normalise
-        if (ax0 > cmd[CMD_RIGHTSTEER].max) {
-            ax0 = cmd[CMD_RIGHTSTEER].max;
-        } else if (ax0 < cmd[CMD_RIGHTSTEER].min) {
-            ax0 = cmd[CMD_RIGHTSTEER].min;
-        }
-        ax0 = (ax0 - cmd[CMD_RIGHTSTEER].min) / (cmd[CMD_RIGHTSTEER].max - cmd[CMD_RIGHTSTEER].min);
-
-        // pow used to indicate the polarity of 'more turn'
-        if (cmd[CMD_RIGHTSTEER].pow > 0)
-            ax0 = ax0 - cmd[CMD_RIGHTSTEER].deadZone;
-        else 
-            ax0 = 1 - ax0 - cmd[CMD_RIGHTSTEER].deadZone;
-
-        if (ax0 < 0) ax0 = 0;
-
-        if (1 - cmd[CMD_RIGHTSTEER].deadZone != 0)
-            ax0 = ax0 / (1 - cmd[CMD_RIGHTSTEER].deadZone);
-        else
+        if (ax0 < 0.0f) {
             ax0 = 0;
+        }
 
-        rightSteer = -1 * fabs(cmd[CMD_RIGHTSTEER].pow) * pow(ax0, 1.0f / cmd[CMD_RIGHTSTEER].sens) / (1.0 + cmd[CMD_RIGHTSTEER].spdSens * car->_speed_xy / 100.0);
+        rightSteer = -ax0;
         break;
     case GFCTRL_TYPE_MOUSE_AXIS:
         ax0 = mouseInfo->ax[cmd[CMD_RIGHTSTEER].val] - cmd[CMD_RIGHTSTEER].deadZone;
@@ -1202,7 +1168,8 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
     }
 
     car->_steerCmd = leftSteer + rightSteer;
-    
+    car->_steerCmd *= fabs(car->_steerCmd);
+
 	//send force feedback effect to the wheel
 	//dont' even try to do it if steer command is on a keyboard because it somehow manage to crash (unable to identify the joystic to send FF to?)
 	if(cmd[CMD_LEFTSTEER].type != GFCTRL_TYPE_KEYBOARD && cmd[CMD_LEFTSTEER].type != GFCTRL_TYPE_MOUSE_AXIS){
@@ -1347,20 +1314,16 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
             car->ctrl.setupChangeCmd = item;
         }
     }
-    
-    
+
+
     switch (cmd[CMD_BRAKE].type) {
     case GFCTRL_TYPE_JOY_AXIS:
         brake = joyInfo->ax[cmd[CMD_BRAKE].val];
-        if (brake > cmd[CMD_BRAKE].max) {
-            brake = cmd[CMD_BRAKE].max;
-        } else if (brake < cmd[CMD_BRAKE].min) {
-            brake = cmd[CMD_BRAKE].min;
-        }
-        car->_brakeCmd = fabs(cmd[CMD_BRAKE].pow *
-                pow(fabs((brake - cmd[CMD_BRAKE].minVal) /
-                        (cmd[CMD_BRAKE].max - cmd[CMD_BRAKE].min)),
-                    1.0f / cmd[CMD_BRAKE].sens));
+
+        brake += 1.0f;
+        brake /= 2.0f;
+        brake = 1.0f - brake;
+        car->_brakeCmd = brake;
         break;
     case GFCTRL_TYPE_MOUSE_AXIS:
         ax0 = mouseInfo->ax[cmd[CMD_BRAKE].val] - cmd[CMD_BRAKE].deadZone;
@@ -1443,15 +1406,16 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
     switch (cmd[CMD_THROTTLE].type) {
     case GFCTRL_TYPE_JOY_AXIS:
         throttle = joyInfo->ax[cmd[CMD_THROTTLE].val];
+
+        throttle += 1.0f;
+        throttle /= 2.0f;
+        throttle = 1.0f - throttle;
         if (throttle > cmd[CMD_THROTTLE].max) {
             throttle = cmd[CMD_THROTTLE].max;
         } else if (throttle < cmd[CMD_THROTTLE].min) {
             throttle = cmd[CMD_THROTTLE].min;
         }
-        car->_accelCmd = fabs(cmd[CMD_THROTTLE].pow *
-                pow(fabs((throttle - cmd[CMD_THROTTLE].minVal) /
-                        (cmd[CMD_THROTTLE].max - cmd[CMD_THROTTLE].min)),
-                    1.0f / cmd[CMD_THROTTLE].sens));
+        car->_accelCmd = throttle;
         break;
     case GFCTRL_TYPE_MOUSE_AXIS:
         ax0 = mouseInfo->ax[cmd[CMD_THROTTLE].val] - cmd[CMD_THROTTLE].deadZone;