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Originally Posted by Unexas
We used the default roborio project to test with and 1 motor spun. We have a splitter coming from PWM 0 and 1 going to 2 victors on each side.
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If a motor ran without being commanded to by your program, it sounds like you might have at least one of your Victors wired backwards. Power goes to the V+ and V- terminals, and the M+ and M- terminals go to the motor. If you had the motor terminals connected to battery power, you've probably fried the Victor and it'll take an expert to have a chance of repairing it.
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We used a Arduino to send the PWM signal to the motor controllers while they are on the robot...
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That violates the robot rules. You may only connect motor speed controller PWM inputs to the PWM outputs of the RoboRIO. I can't help you further until you have wired the robot in a way can pass inspection.
You didn't mention the switch that I saw in the code. The programming for that switch was definitely going to break the program completely. Take out all of the related code and get the motors running first.
You said you're using Victors. Those are notoriously difficult to get the PWM connector properly plugged in. If the LED on the Victor is still blinking when you enable the robot, either it isn't connected right or you have failed to initialize the PWM output it's connect to.