[Caleb Sykes]

Originally Posted by 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.

I'll second this. Joystick ramping is a really simple way to avoid voltage dips that can cause brownout. We always use this code for each of our motors. If you make the rate large enough (we usually allow dead stop to full speed in .1 seconds) the drivers won't even notice.