[FTC]: Programming Issue "FTC Crab"

[OctagonMaster]

I currently have a student programmer that loves the word cant.

We are currently trying to get a basic test bed to move in a crab style. I have three motor controllers and one Servo controller, Motors 1,2,3,4 (RF, LF, RR, LR) are connected to the first two motor controllers and the last motor that controls our chain for the movement of our modules (left to right) is connected to the last motor controller.

The last motor has an encoder and a sprocket using a lego touch sensor (port 2) to reference a zero point (all wheels facing forward). We are using Labview and would like try and make this work, however with a programmer that says it cant be done, i know of hundereds on here that know it can..