Inverted Swerve Drive Odometry

Our team is using path planner to design autos. Path planner is generating the right chassis speed; however, our robot won’t follow the path. This is because it interprets the chassis speed incorrectly (forward , left , and counterclockwise are all negative). We’ve tried to invert the chassis speeds, but doing this messes up the odometry readings, so the robot never gets to its ending position. (Were using REV’s Swerve modules) Does anyone have any thoughts?

Heres our current code: Discord