[EbonySeraphim]

I understand that axiom...but in this case. I would trust the user not to screw up the robot, and also, I know our robot can handle that kind of controlling. We have ran ours in full foward to reverse, and it works fine. I'm sure its a big strain, but it can take it a few times.

About your code for the next quote - I have no clue what that does. You'd need to tell me what all of those variables mean/are set to in this or that case. Looking at the names of certain variables, it seems that code limits how much change in the x or y axis of the joystick can occur per iteration. The intial post was asking for a slowdown to stop - not a limiter. Though a limiter would get rid of code for gradually slowing down the robot.

As for the trim wheels. My team has used it and has remained safe. There is an issue of once your going forward you need to stop(meaning return to center not go into reverse). But we can control it pretty well with that. There are no plans on using it in competition, but it's useful for testing to see if our robot drifts left or right because we can be assured that there is no X axis movement on the joystick.