[gpetilli]

There are several ways to slow it down in software. When you create the joysticks, you can specify to square the inputs, which helps give more sensitivity near zero commands. Other methods of changing the max voltage output or the gain do hurt the performance of the motors.

One mechanical method to get more control is to get new CIM gears from VEX - if you have 14T, they sell a 13T and if you are using a 12T, they sell an 11T. This will only give you a 10% reduction in top speed, but it will improve overall performance because the CIM motor is rotating faster for the same robot velocity. There are other threads that explain the difference better.