Hey,
We are running a Mk4i swerve drive and currently, the robots translational movements are working fine but when we try to rotate, this happens: I tried inverting the motors and changing angle offsets, but it just ended up screwing up the translational movement as well.
Here’s a quick picture.
also here’s our github:
Thank you!
Depending on which way you wanted to turn (remember CCW+) swap diagonal module configurations.
Ok, I forgot I could swap the motors 
I will try that tomorrow!
Ok, this fixed the turning issue. Thanks!
Ok, after fixing this rotation problem, another issue popped up where spinning while doing translational movement seems to pivot around a wheel. It’s kind of hard to describe so here’s a link to the video https://youtu.be/wPqwpb8D3U0
We tried putting the robot on blocks, and the wheels seemed to move to the correct positions and directions:
so I’m not sure what could be wrong.
Thanks!
I have heard of this problem before, don’t know how to fix it but i knew it stemmed from a bad config somewhere.
Ok, I managed to fix it after following this website and messing around with some constants: The eight steps - YAGSL
Thank you so much for your help!
Hehe, i wrote those 
Oh, lol. What a coincidence