[Jared Russell]

You might also find it useful to change the characteristics of the joystick vs. speed curve.

Basically, make it so that if you push the joystick within zero and halfway (for example), it gives you up to 1/2 of your max speed, then from halfway to full forward it gives you the rest.

Example:

#define SENSITIVITY_TOLERANCE 179 /* play with this value */
#define SENSITIVITY_DIVISOR 2 /* and this one too */
#define SENSITIVITY_EDGE (SENSITIVITY_TOLERANCE-127)/SENSITIVITY_DIVIDER+127

int reverse_p1_y = 0;

if( p1_y < 127 )
{
     p1_y = 254-p1_y;
     reverse_p1_y = 1;
}

if( p1_y < SENSITIVITY_TOLERANCE )
     p1_y = (p1_y - 127 )/SENSITIVITY_DIVISOR + 127;
else
     p1_y = SENSITIVITY_EDGE + (p1_y-SENSITIVITY_TOLERANCE)*(254-SENSITIVITY_EDGE)/(254-SENSITIVITY_TOLERANCE);

if( reverse_p1_y )
     p1_y = 254 - p1_y;

The result is that you can move your robot at max speed, but it is more controllable at lower speeds.