[Ether]

What does your driver interface look like? i.e., how does the driver control each of the 3 degrees of freedom (forward, strafe,rotate)?

Put the bot up on blocks ,then:

a) issue a pure "forward" command and record the direction each of the 4 wheels is spinning

b) issue a pure "strafe right" command and record the direction each of the 4 wheels is spinning

c) issue a pure "rotate clockwise" command and record the direction each of the 4 wheels is spinning

Post your results here.