[EFastring]

<Same team as the OP

We are using a 4 motor / 4 jaguar / 2 split PWM cable setup.

Its basically all default code, where the only changes are inverting one sides motors with the built in inversion switches in default code, and then a multiplication function with -1 applies to the X axis to correct turning after the inversion.

We have the basic default code for compressor in begin.vi and periodic tasks.vi. Two more simple motor control/PWM codes to run ball feed and angle, but they dont seem to be affected the way the 4 drive motors are.

Our only other code runs in periodic tasks and its a sequential frame of solenoid functions.

The twitching really only moves the wheels like 5-10 degrees when the robot is blocked up and the wheels are suspended. It might not even be enough to move the robot when loaded and on the floor.