Mecanum Code weird bug need help

[Nathan Powell]

Using Windriver C++
4 wheel drive mecanum
Jaguars motor controllers (calibrated manually)
PWM
Logitech Extreme 3D Joystick

All electrical has been checked and while there is no such thing as an absolute appears to be wired accurately
We have reimaged the cRio to ensure we do not have garbage code randomly running

Using the mecanum base code provided by FIRST
Behavior we are seeing:

forward works as expected
reverse works as expected
strafe works as expected
Turning either direction (left or right) wheels do not spin in proper directions and fight each other

If anyone has time and is willing could you please help us find our error? I have attached all code and we would appreciate your help as this is interefering with our drive practice and we don't want to upload broken code on our bot at competiton
Thank you...