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Robot Oscillating Wildly When Attempting To Drive

Hey, so my robot is acting rather strangely when trying to control it. I have attached a differential drive controller. Driving forwards or backwards in a straight line everything works fine, but as soon as I attempt to turn the robot goes crazy and begins wildly oscillating around the world. Any ideas on what could cause this?

I sometimes also get the same sort of problem when adjusting some of the joints

Thanks in advance!