diff --git a/src/balancer.hpp b/src/balancer.hpp
index 722ebbb..8db1a68 100644
--- a/src/balancer.hpp
+++ b/src/balancer.hpp
@@ -208,29 +208,10 @@ struct BotController {
 
         // Deadband then,
         // "expo curve" 2nd order map (quadratic) (with abs to keep sign)
-        CmdPair mapped_cmd    = rx;
-        float   k2            = 0.5f;
-        float   k1            = 1.0f - k2;
-        float   deadband_each = 0.01f;  // total deadband width is 2*deadband_each
-        for (float cmd : {mapped_cmd.drive, mapped_cmd.steer}) {
-            // calc in absolute value, copy sign at the end
-            // deadband
-            float cmd_abs = fabsf(cmd);
-            if (cmd_abs < deadband_each) {
-                cmd_abs = 0.0f;
-            } else {
-                // remap from [deadband, 1] to [0, 1]
-                cmd_abs = (cmd_abs - deadband_each) / (1.0f - deadband_each);
-            }
-            // quadratic map
-            cmd_abs = k1 * cmd_abs + k2 * cmd_abs * cmd_abs;
-            // restore sign
-            cmd = copysignf(cmd_abs, cmd);
-        }
-
-        // Scale units
-        mapped_cmd.drive *= drive_range;
-        mapped_cmd.steer *= steer_range;
+        const CmdPair mapped_cmd = {
+            .drive = bot::remap_joystick(rx.drive) * drive_range,
+            .steer = bot::remap_joystick(rx.steer) * steer_range,
+        };
 
         // Lowpass filters (tau set in LPF constructor)
         return {
diff --git a/src/utils.hpp b/src/utils.hpp
index 1109c81..dd08ef1 100644
--- a/src/utils.hpp
+++ b/src/utils.hpp
@@ -11,6 +11,30 @@ constexpr const T& clamp(const T& x, const T& lo, const T& hi) {
     return std::min(std::max(x, lo), hi);
 }
 
+float remap_joystick(float cmd) {
+    float k2            = 0.5f;
+    float k1            = 1.0f - k2;
+    float deadband_each = 0.01f;  // total deadband width is 2*deadband_each
+                                  // calc in absolute value, copy sign at the end
+
+    // deadband
+    float cmd_abs = fabsf(cmd);
+    if (cmd_abs < deadband_each) {
+        cmd_abs = 0.0f;
+    } else {
+        // remap from [deadband, 1] to [0, 1]
+        cmd_abs = (cmd_abs - deadband_each) / (1.0f - deadband_each);
+    }
+
+    // quadratic map
+    cmd_abs = (k1 * cmd_abs) + k2 * sq(cmd_abs);
+
+    // restore sign
+    cmd = copysignf(cmd_abs, cmd);
+
+    return cmd;
+}
+
 void blink(const uint32_t blink_period_ms) {
     static uint32_t last_blink = millis();
     static bool     led_state  = false;