[KenWittlief]

generally speaking, ramping or putting filters on your driver controls is not the best way to go

it only makes your bot act sluggish, as if it were very heavy and slow to respond to driver commands.

Why take a nice, light, powerfull remote control vehicle and make it act like a big, heavy underpowered sloth?

what you really need is driver training. There is no engineering fix for lack of practice time.

There are two things you can do that are a compromise.

1. Have a high power/low power switch on the driver controls. In low power all joystick commands are cut in half, or to 33% - to use for more precise manuvers.

2. have jog buttons on your driver controls for making very small movements with the robot. A jog button is a push button that causes a one-loop full power output to a motor, then power goes to zero. the effect is like tapping your robot with a hammer, to get it to nudge just a bit in one direction. If you want, have the jog button auto repeat if you hold it down, one jog per second. Try it. If a one-loop full power (254) pulse makes the bot move too much then back it down to 220, 200... till you get the fine-tuning effect you need. It should be very repeatable once you get it dialed in: one push of the jog button will move the bot 1 inch forward, or 1° left....