[ekapalka]

Thanks! We ended up telling identifying each motor as "frontleft" etc, and then calling them one by one and replacing the PWM cables to get the right wheel to correspond with the right motor controller name (regardless of the direction). Then we put the motor values into MacanumDrive_Cartesian and set it to drive in a straight line (while on blocks) and reversed all the motors that needed to be reversed. We don't know how to use "SetInvertedMotor()".... Now we only have one problem... Talon SRs spin signifigantly (and consistently) faster in reverse than while going forwards (so we can't simply multiply individual motor values to regulate them). Thanks, by the way! We printed out your response and cable-tied it to the robot (just the directional stuff). *edit* also, it creeps without the joysticks plugged in. It only creeps and jitters when on blocks or low friction surfaces (although the motor controller lights do change colours while on high-friction surfaces, but don't give the motors enough power to move). *edit2* I just realized that the speed controllers are not initialized in the right order. Fixing that shouldn't mess anything up, right?