Off axis rotation while moving

[ZacharyH728]

The robot translates and rotates perfectly fine independently, however not when you try both at the same time, i.e. moving while rotating the robot. When you try both at the same time the robot rotates not from the centre, essentially making donuts

[markzakharyan]

@ZacharyH728 make sure your kinematics are correct. if you're using the example project they have, make sure the length and width of the robot in Constants.java are correct.