[Pirate programe]

Sorry for the undescriptive name, but there's no real way to describe this with my high-school math knowledge.

We've noticed that when our robot goes at a speed, and then moves in the opposite direction at the same speed, it starts tipping over. As such, we'd like the joystick, when it is set to a certain value (let's say 1), to slowly ramp up toward that value, instead of immediately going to it.

Any ideas?