[JBotAlan]

Just a tip: whatever ramping function you use, make sure it is getting called at even intervals. In autonomous, cycles are much, much faster than the 26.2ish millisecond user mode cycles, and the same function will give you different results in autonomous, where it is getting called much more quickly than user mode. I didn't think this through all the way before re-coding my autonomous, and rendered our ramping functions useless. OOPS!

I am currently working on a timer-based ramping function that will filter everything going to the motors instead of only being used in auton. We'll see how that works out...

JBot