[MrForbes]

There are several things you can do to make it easier to drive. The code can be changed to make the joystick controls exponential (multiply the joystick value times the absolute value of itself). how is the controller set up? steering on one stick, throttle on the other, to make it "split arcade" seems to be more controllable than tank or arcade drive. And you can try an alternate type of controller, such as an RC car control with a small steering wheel and throttle trigger, wired into the guts of a normal USB controller. Also the robot drivetrain design has a lot to do with it, as well as the gear ratios. I've seen a few excellent teams using only one CIM per side on the robot drive this year. Omni wheels are pretty forgiving when turning the robot just a little bit.

We got lucky this year, our driver has fantastic control over the robot...and he sure needed it.