What wheels are going in what directions? Break down your problem into pieces and it becomes more manageable. The problem “the wheels are going crazy” is not a manageable problem, but “the front left wheel is going the wrong way” is manageable, and easily fixed.
The two on the right are going forward and the two on the left are going backward. It was my last code that had the wheels messing up really bad. I don’t know how to make it go forward or how to get it to for a longer period of time without messing it all up.