[Alan Anderson]

I suspect your motors aren't in the places the software thinks they are. Try putting the robot up on blocks so it won't go anywhere, removing all the circuit breakers for the drive motors, and putting in only one breaker at a time. Attempt to drive forward and reverse and make sure the wheel does what you expect. Then try to rotate left and right and make sure the wheel does what you expect. Remove that breaker and put in another one and repeat until you have verified all four motors.

Testing the strafe function one wheel at a time is a little less straightforward, but you should be able to figure out whether it's correct.




I'll mention this for completeness: I have seen robots do very weird things when a motor's wires are accidentally connected to two different speed controllers. That might be something worth checking.