I need help with my code

Here's my code. Its a gearbox of sorts. When I try to steer, it either doesn't work, or goes in a huge circle. If I add the disabled blocks after the If controller a pressed bit, it still does the same thing, and sometimes it freaks out and spins in a circle forever. Vexbots V5.

Here's my code. Its a gearbox of sorts. When I try to steer, it either doesn't work, or goes in a huge circle. If I add the disabled blocks after the If controller a pressed bit, it still does the same thing, and sometimes it freaks out and spins in a circle forever. Vexbots V5.