[Greg McKaskle]

We just finished putting joystick ramping on the drive to help with the rocking -- in case the drivers want it. It will also help with surge current and is perhaps simpler than the previously described algorithm. You could even decide to keep a running average of voltage or use the voltage faults to increase the ramp each time you get one. Of course this SW stuff is just doing the same thing as teaching the drivers to be a bit smoother on the stick. Also, SW can't fix loss due to long wires, weak crimps, or excessive loss due to friction, and those mods are of course way better than simply avoiding deep voltage dips.

If you want to do a ramp, the PID palette has an output limiter or you can build your own.

Greg McKaskle