[Mr. Lim]

Adding to Al's suggestion:

When first energizing everything, program, test and check one motor at a time. Even if it is a dirt simple arrangement.

Pull all the breakers. P

Put in a breaker for only one motor.

Program it, test, and note the direction it spins in vs joystick motion.

Pull the breaker out.

Put one in for the next motor.

Program it, test, and note the direction it spins in vs joystick motion.

etc.

From a team who has built quite a few 6-motor drivetrains, we can safely say that motors running in opposing directions is a VERY bad thing. Avoid it at all costs through just a little bit of patience and care.

-SlimBoJones...