[NotInControl]

Since you have two motors per side you need to make sure that both motor controllers are driving the wheels in the same direction so that the motors are not fighting each other.

There are many ways to do this, one of the simplest ways is remove all the drivetrain motor controller breakers from the power distribution board.

Then plug in only one breaker, turn the robot on, and spin that side of the drive train with the joystick controls, and note which direction the wheel spins. Turn the bot off, Remove that breaker and plug in the breaker for the other motor controller for the same side of the drive train. Turn the robot back on, and drive the wheel again, noting the direction the wheel spins.

Repeat this for the other side as well. If you have a single side, where the wheel spins in opposite directions, then your motors are fighting each other, and you need to correct it.

If this is the case, and you do not have the option to fix it in code, you can safely invert the wires on the MOTOR side of the motor controller, to get the motor spinning in the correct orientation.

Note: Make sure you only invert the M side of the motor controller, because inverting the power side, will fry the motor controller.

Hope this helps,
Kevin