Angle Motor Is Jittery and Locks Up for Swerve Drive

Our team is working on swerve and the angle motors keep on locking up when there is a quick change on the joystick. We have neo 1.1s for the drive and angle motors, CANCoders, and are using the SDS MK4i swerve module. Here is the code too GitHub - Jett-Sciortino/2024-Crescendo-Robot-Code: Swerve Code with Neos, SDS MK4i, and CANcoders