[psy_wombats]

As far as joystick sensitivity goes, our team has been using this:

long ramping (unsigned char ramp)
{
    long answer = 0;
    answer =  ((long)ramp - 127);
    answer = ((answer) * (answer) * (answer));
    answer = ((answer) / (128 * 128));
    answer = (answer) + (127);
    return answer;
}

It's cubic function. You should be able to have max speed at full forward, but also have better control with lower values. Something like:

http://www.chiefdelphi.com/forums/at...9&d=1201127844

Hope that helps.