diff --git a/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java b/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
index c259e54..0faf431 100644
--- a/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
+++ b/src/main/java/frc4388/robot/commands/DriveToDistanceMM.java
@@ -30,7 +30,7 @@ public class DriveToDistanceMM extends CommandBase {
   @Override
   public void initialize() {
     m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
-    m_rightTarget = m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance;
+    m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc4388/robot/commands/DriveToDistancePID.java b/src/main/java/frc4388/robot/commands/DriveToDistancePID.java
index e0bbbe8..6c8e1cc 100644
--- a/src/main/java/frc4388/robot/commands/DriveToDistancePID.java
+++ b/src/main/java/frc4388/robot/commands/DriveToDistancePID.java
@@ -30,7 +30,7 @@ public class DriveToDistancePID extends CommandBase {
   @Override
   public void initialize() {
     m_leftTarget = m_drive.m_leftFrontMotor.getActiveTrajectoryPosition() + m_distance;
-    m_rightTarget = m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance;
+    m_rightTarget = -(m_drive.m_rightFrontMotor.getActiveTrajectoryPosition() + m_distance);
   }
 
   // Called every time the scheduler runs while the command is scheduled.