[goldenguy00]

I'm trying to make things simpler by changing the orientation, but I guess I'm doing the opposite. So to drive forward, the wheels all move in the same direction.

<---- (movement from top down)

Forward (<)
[top right] [bottom right]
[top left] [bottom left]

Sliding right (^)
[<--] [-->]
[-->] [<--]

Sliding left (v)
[-->] [<--]
[<--] [-->]

The problem we are running into is that when sliding, it veers up and down. The right top and bottom output velocity values lower than those on the right top and bottom