code and elecronic fixes + new weird issue I dont really remember what I did last night on the robot, I do remember though that one of my encoders went bad so I had to buy a new one, that should come soon. also, all four of my drive motors have stopped reacting to pwm inputs. after peering more, the motors themselves are fine, and even the h brigde is fine because the motors will sometimes twitch abit during startup from floating values. I think It is the code, will look into that tonight. on a good note I have daisychained power to all 4 of my motor controllers, and begun planning out how I want to program my swerves and learning the mathematics needed for that, so Im pretty excited to do that. hopefully I can wrap this project up soon so I can start working On the ISEF project I wanna do with radio waves :-)