High pitch whine from motors

[Garduna]

Problem

When controlling the forklift, there's times when a high pitched whine comes from the motors. This is caused when the adjustedThrottleValue value being sent to the moveMotor function is enough to activate the motors, but not enough to move the forklift.

I noticed this was set to a static value of 15. This seemed to be too low for my Xbox Elite 2 controller and updating this to a higher value fixed the issue. 60 seemed to be the balance between full motor response, but always high enough to move the forklift forwards or backwards.

Replication

Very slightly pull or push on the throttle, until the whine starts but the forklift isn't moving.
This happens more often when turning, due to the speed adjustment.

This was tested using 12v 100RPM N20 motors.

[Garduna]

An additional note, because of (possibly) stick drift, when I let off the throttle completely, the motor whine still occurs until I push it back to center, usually by making another small adjustment.