Tank Drive Troubles

[Nicandy]

Okay, so We have the arm motors programmed pretty as you please, we are using a tank drive to control the two drive motors, as well as the two arm motors that we have. The arm motors do exactly what they are supposed to do. as well as our drive motors, but we are having issues with programming the drive motors to turn or re-invert themselves to turn. is there anyone out there who can give us some insight? we are completely stuck and out of ideas on this. There is also a photo that might help you guys. thanks very much from the Marinerds.