First, I deeply appreciate the feedback on my difficulties. Thanks.
But my problem is that because I am squaring my motor outputs, a PID for my drive train motors for speed will not work effectively -
according to what I have read. I do not know how to implement gain scheduling or deadband filters for something like this and have found a lack of resources for implementing these things.
I am squaring and adding deadbands(I also decrease the slope of the input function to accommodate the dead band) to the joystick inputs for teleop mode to allow our drivers to have finer motor control when attempting to aim or position the bot. We have found linear outputs have 'jumpy' outputs when trying to do these things.
Again, thank you. I have virtually no backup on my team for programming so when I run into problems I typically resort to google/CD for help, and this doesn't have a lot of solutions.