Hi Tom, yes i think that was the reason.
One thing i remeber was that you cant have throttle slew and active braking at the same time. at least that was what i had found.
i wanted slew rate to soften acceleration and so safe gears from shaving but wanted the brake of my ESC trigger so the rover would slow down rapidly before turning.
@gmorph maybe it would be good to seperate thr slewing into acceleration and deceleration parts so active beaking will work together with thr slew rate?