YES IT WORKS

Author: DriverStationComputer

src/main/java/org/carlmontrobotics/Constants.java

@@ -278,7 +278,8 @@ public static final class Drivetrainc {
 		public static final boolean[] driveInversion = (CONFIG.isSwimShady()
 				? new boolean[] { false, false, false, false }
 				: new boolean[] { true, false, true, false });
-		public static final boolean[] turnInversion = { true, true, true, true };
+		public static final boolean[] turnInversion =
+				{false, false, true, true};
 		// kS
 		public static final double[] kForwardVolts = { 0.26744, 0.31897, 0.27967, 0.2461 };
 		public static final double[] kBackwardVolts = kForwardVolts;
@@ -317,15 +318,23 @@ public static final class Drivetrainc {
 
 		// #region Ports
 
-		public static final int driveFrontLeftPort = CONFIG.isSwimShady() ? 8 : 11; //
-		public static final int driveFrontRightPort = CONFIG.isSwimShady() ? 13 : 19; //
-		public static final int driveBackLeftPort = CONFIG.isSwimShady() ? 5 : 14; //
-		public static final int driveBackRightPort = CONFIG.isSwimShady() ? 11 : 17; // correct
-
-		public static final int turnFrontLeftPort = CONFIG.isSwimShady() ? 7 : 12; //
-		public static final int turnFrontRightPort = CONFIG.isSwimShady() ? 14 : 20; // 20
-		public static final int turnBackLeftPort = CONFIG.isSwimShady() ? 6 : 15; //
-		public static final int turnBackRightPort = CONFIG.isSwimShady() ? 12 : 16; // correct
+		public static final int driveFrontLeftPort =
+				CONFIG.isSwimShady() ? 8 : 1; //
+		public static final int driveFrontRightPort =
+				CONFIG.isSwimShady() ? 13 : 2; //
+		public static final int driveBackLeftPort =
+				CONFIG.isSwimShady() ? 5 : 3; //
+		public static final int driveBackRightPort =
+				CONFIG.isSwimShady() ? 11 : 4; // correct
+
+		public static final int turnFrontLeftPort =
+				CONFIG.isSwimShady() ? 7 : 11; //
+		public static final int turnFrontRightPort =
+				CONFIG.isSwimShady() ? 14 : 12; // 20
+		public static final int turnBackLeftPort =
+				CONFIG.isSwimShady() ? 6 : 13; //
+		public static final int turnBackRightPort =
+				CONFIG.isSwimShady() ? 12 : 14; // correct
 
 		public static final int canCoderPortFL = CONFIG.isSwimShady() ? 4 : 0;
 		public static final int canCoderPortFR = CONFIG.isSwimShady() ? 2 : 3;