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Два dс мотора управляются с помощью джойстика и ардуино. Как реализовать плавное увеличение и уменьшение скорости вращения двигателей при резком изменении положения джойстика (ramping).

// X axis is A0
 // Y axis is A1
 #define switchPin 2 // switch input
 #define motor1Pin 3 // Motor 1 leg 1 (pin 2, 1A)
 #define motor2Pin 4 // Motor 1 leg 2 (pin 7, 2A)
 #define motor3Pin 6 // Motor 2 leg 1
 #define motor4Pin 7 // Motor 2 leg 2
 #define enable1Pin 9 // Motor1 enable pin
 #define enable2Pin 10 // Motor2 enable pin
 #define ledPin 13 // Reset LED
 #define slack 50 // Slack in joystick
 float joy0;  // Defines scaling factor for joystick A0
 float joy1;  // Defines scaling factor for joystick A1
 float joyA0; // Defines starting position of X axis
 float joyA1; // Defines starting position of Y axis
 void setup()
 {
         // Sets scaling factors at program start
         joy0 = 1023/analogRead(A0);
         joy1 = 1023/analogRead(A1);
         // Determines and reads starting positions of X and Y axis
         joyA0 = analogRead(A0);
         joyA1 = analogRead(A1);
        
         // set the switches as an input:
 pinMode(switchPin, INPUT);
 // set all the other pins you're using as outputs:
 pinMode(motor1Pin, OUTPUT);
 pinMode(motor2Pin, OUTPUT);
 pinMode(motor3Pin, OUTPUT);
 pinMode(motor4Pin, OUTPUT);
 pinMode(enable1Pin, OUTPUT);
         pinMode(enable2Pin, OUTPUT);
 pinMode(ledPin, OUTPUT);
        
         // set enablePin high so that motor can turn on:
 
 // blink the LED 3 times. This should happen only once.
 // if you see the LED blink three times, it means that the module
 // reset itself,. probably because the motor caused a brownout
 // or a short.
 blink(ledPin, 3, 100);
         Serial.begin(9600);   //Turn on the Serial Port at 9600 bps
 }
 void loop()
 {
         // Reads position of A0 and A1 (X and Y axis)
         int stickX = analogRead(A0);
         int stickY = analogRead(A1);
  
         // Reads the position of A0 and determines direction and speed
         if (stickX < joyA0-slack)
         {
           analogWrite(enable1Pin, abs(stickX-510)/2);
           digitalWrite(motor1Pin, HIGH); // set leg 1 of the Motor1 high
   digitalWrite(motor2Pin, LOW); // set leg 2 of the Motor1 low
         }
         if (abs( stickX - joyA0 ) < slack)  // Sets deadspace on stick
         {
           digitalWrite(enable1Pin, LOW);
         }
         if (stickX > joyA0+slack)
         {
           analogWrite(enable1Pin, (stickX-512)/2);
           digitalWrite(motor1Pin, LOW); // set leg 1 of the Motor1 low
           digitalWrite(motor2Pin, HIGH); // set leg 2 of the Motor1 high
         }
        
         // Reads the position of A1 and determines direction and speed
         if (stickY < joyA1-slack)
         {
           analogWrite(enable2Pin, abs(stickY-510)/2);
           digitalWrite(motor3Pin, HIGH); // set leg 1 of the Motor2 high
   digitalWrite(motor4Pin, LOW); // set leg 2 of the Motor2 low
         }
         if (abs(stickY - joyA1) < slack)  // Sets deadspace on stick
         {
           digitalWrite(enable2Pin, LOW);
         }
         if (stickY > joyA1+slack)
         {
           analogWrite(enable2Pin, (stickY-513)/2);
           digitalWrite(motor3Pin, LOW); // set leg 1 of the Motor2 low
   digitalWrite(motor4Pin, HIGH); // set leg 2 of the Motor2 low
         }
 }
 //blinks an LED
 void blink(int whatPin, int howManyTimes, int milliSecs)
 {
 int i = 0;
 for ( i = 0; i < howManyTimes; i++)
 {
  digitalWrite(whatPin, HIGH);
  delay(milliSecs/2);
  digitalWrite(whatPin, LOW);
  delay(milliSecs/2);
 }
 }