[Ted Weisse]

A dead zone is a very good idea for your input controls. If you establish this zone in the input from 125-129 on each input it helps, keeps from jerking the drive back and forth. Test if the input is in the zone and if true set the value to 127, if not then the input value would be used as Full_Speed. Now set scaled values for speeds such as ½ by using the value of Full_Speed. Therefore: Half_Speed = 127 - ( 127 - Full_Speed ) / 2. You would need to do this for each side/motor. If you wanted ¼ speed just divide by 4 instead of 2 and so on. Now test for the inputs of the triggers and set the output to the desired value either the Full_Speed or Half_Speed results. This has been tested and works, hope it helps. Remember you can test for either trigger or even both to form an “AND” so you can have multiple speeds.