[Greg McKaskle]

For the first issue, this may best be solved by looking at the motor controllers and seeing if the jumper is set for Coast or Brake. I believe the Jaguars in particular ship set for Brake, and you likely want to move it to Coast for your drive motors.

For the second issue, since the numbers go between -1 and 1, try adding some math in between the joystick code and the drive code. If you never need to top speed, you can simply divide by a number. If you want to affect small numbers more, you can square and reapply the sign, or you can even cube the number or put it to any power you like.

You may also find it useful to build a small program to plot joystick versus motor to check the various math options and help visualize what they do.

Greg McKaskle