diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index cfb3afa..bb2b05c 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -139,7 +139,7 @@ public class SwerveDrive extends Subsystem {
         if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
             return; // don't bother doing swerve drive math and return early.
 
-        leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
+        leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
         leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
         leftStick = TimesNegativeOne.invert(rightStick, TimesNegativeOne.RotAxis);    
 
@@ -207,7 +207,7 @@ public class SwerveDrive extends Subsystem {
         if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
             return; // don't bother doing swerve drive math and return early.
 
-        leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
+        leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
 
         swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
                 .withVelocityX(leftStick.getX() * speedAdjust)
@@ -271,7 +271,7 @@ public class SwerveDrive extends Subsystem {
         // if (leftStick.getNorm() < 0.05) //if no imput
         // return; // don't bother doing swerve drive math and return early.
 
-        leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
+        leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
 
         swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
                 .withVelocityX(leftStick.getX() * -speedAdjust)
diff --git a/src/main/java/frc4388/utility/TimesNegativeOne.java b/src/main/java/frc4388/utility/TimesNegativeOne.java
index 5887114..1846b5e 100644
--- a/src/main/java/frc4388/utility/TimesNegativeOne.java
+++ b/src/main/java/frc4388/utility/TimesNegativeOne.java
@@ -2,6 +2,7 @@ package frc4388.utility;
 
 import java.util.Optional;
 
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
@@ -14,6 +15,7 @@ public class TimesNegativeOne {
     public static boolean YAxis = SwerveDriveConstants.INVERT_Y;
     public static boolean RotAxis = SwerveDriveConstants.INVERT_ROTATION;
     public static boolean isRed = false;
+    public static Rotation2d ForwardOffset = Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET);
 
     private static boolean isRed() {
         Optional<Alliance> alliance = DriverStation.getAlliance();
@@ -23,9 +25,10 @@ public class TimesNegativeOne {
 
     public static void update(){
         isRed = isRed();
-        XAxis = SwerveDriveConstants.INVERT_X ^ isRed;
-        YAxis = SwerveDriveConstants.INVERT_Y ^ isRed;
+        XAxis = SwerveDriveConstants.INVERT_X;// ^ isRed;
+        YAxis = SwerveDriveConstants.INVERT_Y;// ^ isRed;
         RotAxis = SwerveDriveConstants.INVERT_ROTATION;
+        ForwardOffset = Rotation2d.fromDegrees((SwerveDriveConstants.FORWARD_OFFSET + (isRed ? 180 : 0)));
     }
 
     public static double invert(double num, boolean invert){