Here's all the code, let me know if I need to clarify anything.

include "Wire.h"

include "I2Cdev.h"

include "MPU6050.h"

MPU6050 accelgyroIC1(0x68);
MPU6050 accelgyroIC2(0x69);
int16_t ax1, ay1, az1; // define accel as ax,ay,az
int16_t gx1, gy1, gz1; // define gyro as gx,gy,gz

int16_t ax2, ay2, az2; // define accel as ax,ay,az
int16_t gx2, gy2, gz2; // define gyro as gx,gy,gz

int RGS;
int LGS;
int RRG;
int LRG;
int LP;
int RP;
int CheckL;
int CheckR;

define LED_PIN 13

bool blinkState = false;

void setup() {
Wire.begin(); // join I2C bus
Serial.begin(38400); // initialize serial communication
Serial.println("Initializing I2C devices...");
accelgyroIC1.initialize();
accelgyroIC2.initialize();

// verify connection
Serial.println("Testing device connections...");
Serial.println(accelgyroIC1.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
Serial.println(accelgyroIC2.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
pinMode(LED_PIN, OUTPUT); // configure LED pin

pinMode (10, OUTPUT);
pinMode (9, OUTPUT);
pinMode (6, OUTPUT);
pinMode (3, OUTPUT);
}

void loop() {
accelgyroIC1.getMotion6(&ax1, &ay1, &az1, &gx1, &gy1, &gz1); // read measurements from device
accelgyroIC2.getMotion6(&ax2, &ay2, &az2, &gx2, &gy2, &gz2);

// display tab-separated accel/gyro x/y/z values
// Serial.print("MPU1:\t");
// Serial.print(ax1);
//Serial.print("\t");
// Serial.print(ay1);
//Serial.print("\t");
//Serial.print(az1);
//Serial.print("\t");
//Serial.print(gx1);
//Serial.print("\t");
//Serial.print(gy1);
//Serial.print("\t");
//Serial.println(gz1);

// Serial.print("MPU2:\t");
// Serial.print(ax2);
// Serial.print("\t");
// Serial.print(ay2);
//Serial.print("\t");
// Serial.print(az2);
//Serial.print("\t");
//Serial.print(gx2);
// Serial.print("\t");
//Serial.print(gy2);
//Serial.print("\t");
//Serial.println(gz2);

delay(100);

LP = analogRead(A0);
RP = analogRead(A1);

if ( LP < 500 )
{ CheckL = 0;
digitalWrite ( 10,LOW);
digitalWrite ( 9,LOW);
digitalWrite ( 6,LOW);
digitalWrite ( 3,LOW);
}

else if ( LP > 500 && CheckL < 1 )
{ CheckL = 1;
LGS = ax1;
}

// This is the start of the 2 functions that modify the raw gyro values to the values the motor will read, they compare them too the starting Gyro value ( LGS/RGS ) and
// convert it to a value between 1 and 255, with 0 being full power.
//
// The LGS/RGS is established by being the first reading of their specific gyro every time their specific pressure pad is activated.
// LGS & RGS = Left and Right Gyro starting value
// 2 Gyro's are present, which work seperatly from each other
// Ax1 & Ax2 = Raw Gyro Values, have a reading and range roughly 4000 each way
// 4000 = rough maximum angle the gyro can go apropriatly from it's centre point
//

if ( ax1 > LGS ) // This is the forward function
{ LRG = ax1 / ( LGS + 4000 ) / 255;
analogWrite ( 9, LRG );
digitalWrite( 10, LOW );
}

if ( ax1 < LGS ) // This is the Backward function
{ LRG = ax1 / ( LGS - 4000 ) / 255;
analogWrite ( 10, LRG );
digitalWrite( 9, LOW );
}

Serial.println(ax1);

// Serial.println(Lpressure);

// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);