[WizenedEE]

Which relay port is the spike *actually* attached to? It can't be attached to all of 2, 3, and 4. Unless.. Did you wire the PWM cable so that the BLACK wire is under the blue thing that will hold the cable in, the red is a little closer to the rest of the board, and the white/yellow is closest to the center? You must wire it like that. Then it will only be attached to relay port 2, not port 3 or 4. I think right now you have it wired parallel to the long side of the board; it needs to be perpendicular.

Then only open up one relay (there is only one, right?). Set it to both directions. In teleop, you have to do something more complicated than what you have. You need to tell it what to do based on both joystick buttons, not have two selects with one button each. The easiest way to do that is to have one select wired to one button, that selects either OFF or FORWARD. Then have another select that selects either REVERSE, or the output of the other select. This will give you all three cases. Wire this to your relay set.

For future debugging, if you look at the digital sidecar you should see a red and green LED next to each relay port. The green will light up if going forward, the red will light up if going backward. The light on the spike should do the same.