The best thing to do is not alter the code at all, and as said above, have a calm driver.
I've been a driver for two years now, and I know that it can get crazy. Hell, I've been almost smacked for not listening/responding to orders from the rest of the drive team I think
. But the biggest thing I've noticed, you need to pretend that it's like your road test.
If you are the driver, just pretend that if you accelerate too fast, the robot will explode. Have a light hand, and keep every movement smooth, UNLESS your robot is designed to handle whatever you throw at it (see 810's robot from 2002). Listen to your drive team, because they can see stuff you won't, and they can beat you if you screw up
. With a little practice, it's really not all that hard to get the robot to accelerate smoothly with no modifications to the software. And the less you change, the less that _might_ break. And no one ever complained about that
.