Rotate with swerve two corners rotate opposite

We are new to swerve this year. Have translation working, but when we just rotate the robot the two corners (Front-Left and back -right ) rotate the opposite direction than the other two corners (front right and back left). Leading been stuck on the for a couple weeks. We are using Ane Xbox controller and rev sparks MC with neo motors. See coder here: GitHub - PlatinumPeacock/2023_FRC.

Thank you in advance.

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Solved it… after two weeks of banging our head. A simple mistake of wheel position coding. Exchanged Back right with front right and back left with front left.

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