Swerver turns 90 degrees, controls as if it turned 180

Hello! I’m having an issue with my swerve drive base, essentially, when I turn the robot 90 degrees, the ‘front’ of the robot acts like it moves 180 degrees. Such that, when I turn 90, forward becomes backwards. Then when I turn 180 degress, forwards becomes forwards again. Likewise, if I turn just 45 degrees, forwards becomes left (all directions assuming a static observer and from said observer’s POV)
Any thoughts?>

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If you are using field-oriented drive, check the sign of the sin(theta) terms in your rotation matrix.

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Invert the drive motors and the gyro from what they currently are.

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