diff --git a/include/joystick_mixer.h b/include/joystick_mixer.h
new file mode 100644
index 0000000..dddb14f
--- /dev/null
+++ b/include/joystick_mixer.h
@@ -0,0 +1,33 @@
+#ifndef JOYSTICK_MIXER_H
+#define JOYSTICK_MIXER_H
+
+#include <stdint.h>
+
+class JoystickMixer
+{
+    private:
+
+    float x, y;
+    float dx, dy;
+
+    uint32_t count;
+
+    int32_t usb_x;
+    int32_t usb_y;
+    int32_t usb_r;
+
+    public:
+
+    JoystickMixer() {}
+    JoystickMixer(int32_t usb_x, int32_t usb_y, int32_t usb_r);
+
+    void init(int32_t usb_x, int32_t usb_y, int32_t usb_r);
+
+    void mix(float x, float y);
+
+    void mix_delta(float dx, float dy);
+
+    void getXY(int32_t &x, int32_t &y);
+};
+
+#endif
\ No newline at end of file
diff --git a/src/joystick_mixer.cpp b/src/joystick_mixer.cpp
new file mode 100644
index 0000000..fbf3bd3
--- /dev/null
+++ b/src/joystick_mixer.cpp
@@ -0,0 +1,62 @@
+#include "joystick_mixer.h"
+
+#include <math.h>
+
+JoystickMixer::JoystickMixer(int32_t usb_x, int32_t usb_y, int32_t usb_r)
+{
+    init(usb_x, usb_y, usb_r);
+}
+
+void JoystickMixer::init(int32_t usb_x, int32_t usb_y, int32_t usb_r)
+{
+    this->usb_x = usb_x;
+    this->usb_y = usb_y;
+    this->usb_r = usb_r;
+
+    this->x = 0;
+    this->y = 0;
+    this->dx = 0;
+    this->dy = 0;
+
+    this->count = 0;
+}
+
+void JoystickMixer::mix(float x, float y)
+{
+    this->x += x;
+    this->y += y;
+
+    ++count;
+}
+
+void JoystickMixer::mix_delta(float dx, float dy)
+{
+    this->dx += dx;
+    this->dy += dy;
+}
+
+void JoystickMixer::getXY(int32_t &X, int32_t &Y)
+{
+    if (count > 0)
+    {
+        x = x / count + dx;
+        y = y / count + dy;
+    }
+    else
+    {
+        x = dx;
+        y = dy;
+    }
+
+    float len2 = x * x + y * y;
+    if (len2 > 1)
+    {
+        float len = sqrt(len2);
+
+        x /= len;
+        y /= len;
+    }
+
+    X = usb_x + x * usb_r;
+    Y = usb_y + y * usb_r;
+}
\ No newline at end of file