I have been having difficulty trying to change the drive speed on my robot. I have been able to change the speed of other motors because they are controlled by pushing a button once, however I have the driving motors set to be used by the joysticks and because I have to input the controller positions, there is not enough room to input the drive speed. Here is a copy of my code for the drive motors.
I have been working through this problem recently as well. I will put my code and a post where I showed my solution. However, I do not know if it works yet as I have not been able to test it on our robot.
Our driver actually wanted to make it to where we change our wheels speed, not the arm speed. The difference is we have a holonomic drive that runs it through an equation to find out the speed of the wheel. This means i actually have to do a different solution to determine the equation elsewhere and multiply it separately. Can someone test it to make sure it works?