[ericand]

We found that a lag function as TubaMorg described worked well. We tuned it such that full forward to full reverse took about .5 seconds.

Since you would be setting the PWM value in the slow loop that executes about 38 times/sec, that would give you an adjustment of about 13-14 towards the desired setting. (255/(38/2) = 13.4)

This does help avoid spinning the wheels and slamming the motors back and forth if the joysticks are bumped.