[WizenedEE]

For the joystick problem, my advice is to not mess with the joystick values. Negating them is pretty much a hack. What's going on is in begin.vi with the open4motors command, you put in some "invert motors" in there, which would need to be changed. What I do for these is put the robot on it's side so you can see each wheel (blocks will work okay, if you have to). Then push the joystick all the way forward (make sure you remove all the invert commands in teleop). If any (or all) of the motors are going the incorrect way, correct them. Make sure all three basic commands work (forward/backward should have all wheels going the same way; strafing should have each side's wheels going either towards or away each other, and the two side should be opposite; and rotating should have one side go forward and the other side go backward.)

If only one or two of those commands work and the other ones make the robot go wonky, make sure there aren't ANY inverts for your joysticks (except for the y one in the drive function) and if there aren't you can invert stuff.