Swerve drive moving on its own

Hello, thanks for your reply, and sorry for the late reply

We decided that since 3 of the encoders are broken we will just work on other code for the time being, but now we are going to have the encoders working soon.
To address your findings individually:

  1. We have since changed it to .GetDistance(), thank you.

2 and 3. I am unsure how to convert it into the correct unit… If you could help me I would greatly appreciate it.
Thanks so much as you have helped us greatly so far.