diff --git a/MBot.cabal b/MBot.cabal
--- a/MBot.cabal
+++ b/MBot.cabal
@@ -10,7 +10,7 @@
 -- PVP summary:      +-+------- breaking API changes
 --                   | | +----- non-breaking API additions
 --                   | | | +--- code changes with no API change
-version:             0.1.2.0
+version:             0.2.0.0
 
 -- A short (one-line) description of the package.
 synopsis:            Haskell interface for controlling the mBot educational robot
diff --git a/src/MBot.hs b/src/MBot.hs
--- a/src/MBot.hs
+++ b/src/MBot.hs
@@ -60,13 +60,8 @@
              sendCommand,
              readUltraSonic,
              readLineFollower,
-             goAhead,
-             goBackwards,
-             goLeft,
-             goRight,
-             stop,
-             setRGB,
              setMotor,
+             setRGB,
              playTone,
              Line(LEFTB, RIGHTB, BOTHB, BOTHW),
              Command() ) where
@@ -324,12 +319,21 @@
 -}
 setRGB  index red green blue = MBotCommand idx RUN  RGBLED rgbp  [2,index,red,green,blue]
 
+setJoystick a b c d            = MBotCommand  idx RUN  JOYSTICK  a     [b,c,d]
 
-setMotor port speed sp       = MBotCommand  idx RUN  MOTOR  port  [speed,sp]
-getLineFollower              = MBotCommand  lineIdx   GET LINEFOLLOWER      linp  []
-getUltrasonicSensor          = MBotCommand  ultraIdx  GET ULTRASONIC_SENSOR sonp  []
+{-|
+   Create an mBot command for moving the motors
+-}
+setMotor vl vr                 =  let (hspeed,lspeed) = shortToBytes vr
+                                      (hnegsp,lnegsp) = shortToBytes (-vl)
+                                  in        
+                                      setJoystick lnegsp hnegsp lspeed hspeed 
 
 
+getLineFollower                = MBotCommand  lineIdx   GET LINEFOLLOWER      linp  []
+getUltrasonicSensor            = MBotCommand  ultraIdx  GET ULTRASONIC_SENSOR sonp  []
+
+
 {-|
    Read out the status of the ultrasonic line follower
 -}
@@ -339,41 +343,17 @@
 -}
 readLineFollower d = convertToReading <$> readSensor d getLineFollower  lineIdx
 
--- Example code to show how the motor commands work
 
-{-|
-   Start both motors so that the robot moves fowards
--}
-goAhead d = do  sendCommand d $ setMotor rightMotor speed  stops
-                sendCommand d $ setMotor leftMotor   (complement speed)  (complement stops)
-
-
-
-{-|
-   Start both motors so that the robot moves backwards
--}
-goBackwards d = do  sendCommand d $ setMotor rightMotor (complement speed) (complement stops)
-                    sendCommand d $ setMotor leftMotor  speed stops
-
-
-
-{-|
-  Start the motors let the mBot turn left
--}
-goLeft d  = do   sendCommand d $ setMotor leftMotor  stops stops
-                 sendCommand d $ setMotor rightMotor speed stops
-
-{-|
-  Start the motors so that the robots turns right
--}
-goRight d = do  sendCommand d $ setMotor rightMotor  stops               stops
-                sendCommand d $ setMotor leftMotor   (complement speed)  (complement stops)
+-- Split a short into a tuple of two bytes
+shortToBytes i = (shiftR i 8, i)
 
 {-|
-   Stop both motors
+   Set the speed of the motors
 -}
-stop d   = do   sendCommand d $ setMotor rightMotor  stops stops
-                sendCommand d $ setMotor leftMotor   stops stops
+drive d vl vr =  let (hspeed,lspeed) = shortToBytes vr
+                     (hnegsp,lnegsp) = shortToBytes (-vl)
+                    in    
+                       do sendCommand d $ setJoystick lnegsp hnegsp lspeed hspeed 
 
 
 {-|
@@ -387,5 +367,3 @@
                           -- there. Something something little-endian?
                           in MBotCommand idx RUN TONE
                              lowFreq [highFreq, lowTime, highTime]
-                      where -- Split a short into a tuple of two bytes
-                             shortToBytes i = (shiftR i 8, i)