[Donut]

If I remember right, we've typically used a parabola approach, where the values closer to the center on the joystick are more precise and the values further out change speed much faster. Part of it depends on the year's robot, our robots have had very different speed abilities year to year.

As for ramping up the motors, we put a limit on how much a pwm value can change per loop, by comparing what we want to set the pwm value to and what the current value on the pwm is. If the difference is greater than the limit, it only changes by the limit for that loop.