[MaxMax161]

I think that doing a PID or something more advanced like that would be the best solution to the problem long term however that requires time to write, robot time to debug, and all of that fun stuff.

I personally think that your best solution would be to proportionally decrees the sensitivity of the joysticks (just multiply the value that comes out by something less then 1) unless a button is pressed, in which case they have full sensitivity.

This is easy to program and gives your drivers something to help them drive the robot well. At this point in the season there isn't a lot of time to learn and implement anything complicated so I'd go with something simple and then put it on the drivers to learn how to drive better using any tools you can give them.