[Joey1939]

Are you inverting any of the motors? In a normal wheel setup, going forward is different for the wheels on each side.

When you turn left, the left wheels are going backward and the right wheels are going forward. So I would assume that because that is happening when you drive forward, you need to invert the left wheels.

In java this is as simple as:

RobotDrive.setInvertedMotor(RobotDrive.m_frontLeft Motor , true);
RobotDrive.setInvertedMotor(RobotDrive.m_rearLeftM otor , true);