[SuperBK]

You might want to try specifying 0 for the gyro value to see if the robot can strafe relative to the way its currently pointing. Like JacobD said, make sure your pwn channels are in the correct order. If The robot can drive forward, reverse and turn, then you don't need to invert any motors. I would look on the driver's station usb tab and see what the X axis on the left joystick (your strafing one) is doing. You could also try printing values to stdout and viewing with the rioLog.