[CronosPrime1]

Honestly, I don't know why everyone does not like the direct joystick to PWM value mapping. All it takes is some driving experience. In the time it takes you to get a program for manual velocity PID working, you could instead become an experienced robot driver. You really could. And you would not clutter up unnecessary space on your robot controller. And you would save yourself many headaches. If there is some specific time when you need slow and precise control (say, for making a ramp when it is being cluttered by the two other robots), you could implement a half-velocity switch - press a switch, and the joystick inputs are reduced by half.