[FRC4ME]

Well, right now we're testing two different systems. One ramps up the joystick values over time and must be manually tuned. The other does some math to calculate the maximum PWM value we can apply to a motor at any given time based on the RPM of the motor (measured with encoders), coefficient of friction, weight of robot, battery voltage, and published CIM specifications. The advantage here is that there are no constants to tune - provided your measurements are correct, the system is guaranteed to produce the most responsive robot possible as per the laws of Newtonian physics.