Swerve Drive rotation and speed

We are using closed-loop PID with SparkMax’s and Neo’s for our swerve drive and have mimicked many MANY swerve bases into our code. Our robot is rotating due to the velocity being set while the angles of each module aren’t completely correct. Is this a PID issue with our angle motor PID or something else?

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Normally the modules can rotate quickly enough that this issue isn’t bad. How much is your robot rotating?

Not sure, we aren’t able to test again until Tuesday

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