Swerve drive help?
We're new to swerve this year and things have been going smoothly with our programming but We've encountered a roadblock in our programming of our swerve, we're coding in python and are using MK4i's with, CANcoders, spark max, neos, and navX1. Basically if the wheels aren't at zero they are always trying to go back to zero, causing them to twitch rapidly and also sometimes just start spinning uncontrollably. We're also unable to strafe, rotate, or translate.
Any help would be greatly appreciated
I'll also include pictures of the code in the comments.