[KenWittlief]

that other thread is kinda of hodgepodge of questions and answers, with several different problems/solutions being discussed.

Im assuming from your question that you dont want the operator to be able to slam the motors from full forward to full reverse - that you want the software to filter the commands so the motors dont take such a pounding?

I can understand wanting to do this - the motors are very powerful and you can break small gears and pins in your drivetrain if they are not up to the task - but filtering the response to the joystick input is like adding inertia to your bot - like adding a lot of weight to it

which means, it will speed up gradually, and slow down and stop gradually - this will protect the drivetrain, but your robot will handle like a bucket of jello on ice

If you want to have a safe mode, or new-driver pratice mode, I would suggest simply scaling the joystick signals, so that full forward is only 1/2 or 1/4 forward - this is easy to do by dividing the joystick variable by 2, then adding 64 to get 127 back to 'zero', or dividing by 4 and added 96.

In the competition you want a skilled driver who wont slam the joysticks back and forth - who will drive with a steady hand on the throttles - and you want a bot that CAN slam into reverse, or spin on a dime, if necessary in the heat of battle - as long as the driver only uses all that power only when necessary.