docs: def mixer(yaw, throttle, max_power=100):
      """
      Mix a pair of joystick axes, returning a pair of wheel speeds. This is where the mapping from
      joystick positions to wheel powers is defined, so any changes to how the robot drives should
      be made here, everything else is really just plumbing.
      
      :param yaw: 
          Yaw axis value, ranges from -1.0 to 1.0
      :param throttle: 
          Throttle axis value, ranges from -1.0 to 1.0
      :param max_power: 
          Maximum speed that should be returned from the mixer, defaults to 100
      :return: 
          A pair of power_left, power_right integer values to send to the motor driver
      """
      left = throttle + yaw
      right = throttle - yaw
      scale = float(max_power) / max(1, abs(left), abs(right))
      return int(left * scale), int(right * scale)