diff --git a/index.html b/index.html
index f6d9909..a6527c6 100644
--- a/index.html
+++ b/index.html
@@ -199,7 +199,7 @@ if scale < 1:
                 <legend>Translation &amp; Rotation</legend>
 
                 <div class="control-group">
-                    <button id="control-mode-toggle" type="button">Switch to Keyboard Controls (WASD + QE)</button>
+                    <button id="control-mode-toggle" type="button">Switch to Keyboard/Joystick Controls</button>
                 </div>
 
                 <div id="slider-controls">
diff --git a/script.js b/script.js
index 56be202..c6aef35 100644
--- a/script.js
+++ b/script.js
@@ -24,13 +24,13 @@ class Joystick {
 
         this.ctx.beginPath();
         this.ctx.arc(this.x, this.y, this.radius, 0, Math.PI * 2);
-        this.ctx.fillStyle = '#5554';
+        this.ctx.fillStyle = rootStyles.getPropertyValue('--primary-dark-blue');
         this.ctx.fill();
 
 
         this.ctx.beginPath();
         this.ctx.arc(this.nubX, this.nubY, this.radius / 3, 0, Math.PI * 2);
-        this.ctx.fillStyle = '#445bcaff';
+        this.ctx.fillStyle = rootStyles.getPropertyValue('--accent-blue');
         this.ctx.fill();
 
         this.ctx.restore();
@@ -61,6 +61,11 @@ class Joystick {
         }
     }
 
+    reset() {
+        this.nubX = this.x;
+        this.nubY = this.y;
+    }
+
     getX() {
         return (this.nubX - this.x) / this.radius;
     }
@@ -464,7 +469,7 @@ controlModeToggle.addEventListener('click', () => {
         // Switch to slider mode
         sliderControls.style.display = 'block';
         keyboardControls.style.display = 'none';
-        controlModeToggle.textContent = 'Switch to Keyboard Controls (WASD + QE)';
+        controlModeToggle.textContent = 'Switch to Keyboard/Joystick Controls';
 
         // Reset manual input state
         Object.keys(keyState).forEach(key => keyState[key] = false);
@@ -637,8 +642,15 @@ applyCustomBtn.addEventListener('click', () => {
 
 function convertTouchToCanvas(inCoords) {
     const rect = canvas.getBoundingClientRect();
-    const x = inCoords.x - rect.left - canvas.width / 2;
-    const y = inCoords.y - rect.top - canvas.height / 2;
+
+    // Calculate the scale factor between display size and canvas internal size
+    const scaleX = canvas.width / rect.width;
+    const scaleY = canvas.height / rect.height;
+
+    // Convert client coordinates to canvas coordinates, accounting for scaling
+    const x = (inCoords.x - rect.left) * scaleX - canvas.width / 2;
+    const y = (inCoords.y - rect.top) * scaleY - canvas.height / 2;
+
     return { x, y };
 }
 
@@ -659,6 +671,74 @@ canvas.addEventListener('mouseup', (event) => {
     rightJoystick.deactivate();
 });
 
+// Touch event listeners for mobile/tablet support
+canvas.addEventListener('touchstart', (event) => {
+    event.preventDefault(); // Prevent scrolling and default touch behavior
+
+    for (let i = 0; i < event.touches.length; i++) {
+        const touch = event.touches[i];
+        const canvasCoords = convertTouchToCanvas({ x: touch.clientX, y: touch.clientY });
+        // alert(`X: ${canvasCoords.x}, Y: ${canvasCoords.y}`);
+        leftJoystick.checkShouldActivate(canvasCoords.x, canvasCoords.y);
+        rightJoystick.checkShouldActivate(canvasCoords.x, canvasCoords.y);
+    }
+});
+
+canvas.addEventListener('touchmove', (event) => {
+    event.preventDefault(); // Prevent scrolling while using joysticks
+
+    for (let i = 0; i < event.touches.length; i++) {
+        const touch = event.touches[i];
+        const canvasCoords = convertTouchToCanvas({ x: touch.clientX, y: touch.clientY });
+        leftJoystick.processTouch(canvasCoords.x, canvasCoords.y);
+        rightJoystick.processTouch(canvasCoords.x, canvasCoords.y);
+    }
+});
+
+canvas.addEventListener('touchend', (event) => {
+    event.preventDefault();
+
+    // If no touches remain, deactivate both joysticks
+    if (event.touches.length === 0) {
+        leftJoystick.deactivate();
+        rightJoystick.deactivate();
+    } else {
+        // Check if the remaining touches are still in range of the joysticks
+        let leftStillActive = false;
+        let rightStillActive = false;
+
+        for (let i = 0; i < event.touches.length; i++) {
+            const touch = event.touches[i];
+            const canvasCoords = convertTouchToCanvas({ x: touch.clientX, y: touch.clientY });
+
+            if (leftJoystick.touchInRange(canvasCoords.x, canvasCoords.y)) {
+                leftStillActive = true;
+            }
+            if (rightJoystick.touchInRange(canvasCoords.x, canvasCoords.y)) {
+                rightStillActive = true;
+            }
+        }
+
+        if (!leftStillActive) {
+            leftJoystick.deactivate();
+            leftJoystick.reset();
+        }
+        if (!rightStillActive) {
+            rightJoystick.deactivate();
+            rightJoystick.reset();
+        }
+    }
+});
+
+canvas.addEventListener('touchcancel', (event) => {
+    // Handle touch cancellation (e.g., when system interrupts)
+    leftJoystick.deactivate();
+    leftJoystick.reset();
+    rightJoystick.deactivate();
+    rightJoystick.reset();
+});
+
+
 /*
 * END LISTENER CODE
 * BEGIN DYNAMIC DOM FUNCTIONS
@@ -934,9 +1014,6 @@ function animate() {
     ctx.save();
     ctx.translate(canvas.width / 2, canvas.height / 2);
 
-    leftJoystick.draw();
-    rightJoystick.draw();
-
     // Update speeds based on control mode
     if (isManualInputMode) {
         const maxSpeed = parseFloat(keyboardMaxSpeed.value);
@@ -986,6 +1063,9 @@ function animate() {
     drawGrid(ctx, canvas.width * 2, gridSquareSize, xGridOffset, yGridOffset);
     drawRobot(ctx, robot, robot.gyroHeading);
 
+    leftJoystick.draw();
+    rightJoystick.draw();
+
     // Do it all over again
     ctx.restore();
     requestAnimationFrame(animate);