diff --git a/examples/bb8joystick/__init__.py b/examples/bb8joystick/__init__.py
index 4b8dc31..50afbcc 100644
--- a/examples/bb8joystick/__init__.py
+++ b/examples/bb8joystick/__init__.py
@@ -9,7 +9,7 @@ from examples.bb8joystick.joystick import Joystick
 if __name__ == "__main__":
     logging.basicConfig(level=logging.DEBUG if 'pydevd' in sys.modules else logging.WARNING)
 
-    bb8 = BB8("BB-CC13")
+    bb8 = BB8()
     joystick = Joystick()
 
 
@@ -28,7 +28,7 @@ if __name__ == "__main__":
 
     def roll(speed, direction):
         print("Roll", speed, direction)
-        if speed < 2:
+        if speed < 3:
             speed = 0
         bb8.roll(speed, direction)
 
@@ -39,7 +39,9 @@ if __name__ == "__main__":
             bb8.roll(0, 0)
         else:
             print("Stabilize")
+            bb8.color(255, 0, 255)
             bb8.stabilize()
+            bb8.color(0, 0, 0)
 
 
     try:
diff --git a/examples/bb8joystick/bb8.py b/examples/bb8joystick/bb8.py
index 00eb637..a65960d 100644
--- a/examples/bb8joystick/bb8.py
+++ b/examples/bb8joystick/bb8.py
@@ -48,7 +48,8 @@ class _SpheroImproved(spheropy.Sphero):
 
 
 class BB8(object):
-    def __init__(self, name):
+    def __init__(self, name="BB-CC13"):
+        self._heading = 0
         # marry sync with async https://www.aeracode.org/2018/02/19/python-async-simplified/
         self._loop = asyncio.new_event_loop()
         asyncio.set_event_loop(self._loop)
@@ -73,14 +74,18 @@ class BB8(object):
 
     def heading(self, heading):
         self._wait_loop()
-        self._loop.run_until_complete(self._sphero.set_heading(heading))
-        # self._loop.run_until_complete(self._sphero.roll(1, heading, spheropy.RollMode.IN_PLACE_ROTATE))
+        heading = 359 - heading
+        self._heading = heading
+        # self._loop.run_until_complete(self._sphero.set_heading(359 - heading))
+        self._loop.run_until_complete(self._sphero.roll(1, heading, spheropy.RollMode.IN_PLACE_ROTATE))
 
     def roll(self, speed=10, direction=0):
         self._wait_loop()
+        direction += self._heading
+        direction %= 360
         speed = int(255 * speed / 10)
-        speed *= 0.5  # throttle down a bit
-        self._loop.run_until_complete(self._sphero.roll(speed, direction))
+        speed *= 0.75  # throttle down a bit
+        self._loop.run_until_complete(self._sphero.roll(int(speed), direction))
 
     def stop(self):
         self._wait_loop()
diff --git a/examples/bb8joystick/joystick.py b/examples/bb8joystick/joystick.py
index 3546481..4398616 100644
--- a/examples/bb8joystick/joystick.py
+++ b/examples/bb8joystick/joystick.py
@@ -110,7 +110,7 @@ class Joystick(object):
         self._on_joystick.add(callback)
 
     def _calc_joystick(self):
-        norm_a = -self._angle_A / self.RANGE_A
+        norm_a = self._angle_A / self.RANGE_A
         norm_b = self._angle_C / self.RANGE_C
         logging.debug("%s / %s", self._angle_A, self._angle_C)
         logging.debug("%s / %s", norm_a, norm_b)
@@ -130,7 +130,7 @@ class Joystick(object):
             direction = 270 - direction
 
         for callback in self._on_joystick:
-            callback(round(10 * speed), 359 - int(direction))
+            callback(int(round(10 * speed)), int(direction))
 
 
 if __name__ == '__main__':
@@ -139,7 +139,7 @@ if __name__ == '__main__':
     stick = Joystick()
 
     stick.on_button(lambda x: logging.info("Button: %s" % x))
-    stick.on_rotation(lambda x: logging.info("Motor B: %s" % x))
-    stick.on_joystick(lambda speed, head: logging.info("Speed: %.2f, dir: %s" % (speed, head)))
+    stick.on_rotation(lambda x: logging.info("Rotation: %s" % x))
+    stick.on_joystick(lambda speed, head: logging.info("Speed: %s, Direction: %s" % (speed, head)))
 
     time.sleep(100)