Maxswerve modules drive without input

Technical Programming
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1

We are a new FRC team and we are trying to set up the maxswerve wheels. We are using the Java template from here:

The only changes we have made are setting the spark ids to be correct.
When we enable the robot, it starts to move on its own without controller input, and the wheels turn into a diamond shape.

Are we missing some part of the configuration? Or would it be a different problem.

Note:
When trying to turn with the controller, two of the wheels point towards where it needs to go while the other two are off target.
Also when using the stop button on the controller, it works fine and puts the wheels in an X shape, and it stops the movement.

2

I wonder if this could be because the joysticks are slightly off at their default states (stick drift). If you put a filter in there telling it to not do anything if they joystick values are very low that might fix it. (I’m not a frc programmer)

3

I’m pretty sure there is a variable that holds a dead zone in it. It has deadband in the variable name and holds a value of 0.05. Im not sure if it actually works however.