I wasn't paying much thought towards the motors when I was designing the diagrams to think I was switching the motors. I'll test out completely switching the true and falses when I get to test again.
Edit:
Got it working, here is a link to see the resulting change on our test bed
http://www.youtube.com/watch?v=mhM_RQoiQXY
I still need to some more coding to iron out some of the problems, but I think I am doing well considering I am the only team member using labview and programming for autonomyous.