diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 1a96ced..f581304 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -338,7 +338,7 @@ public class Drive extends SubsystemBase {
 
   public void updateOdometry(boolean reversed){
     if (reversed){
-      m_odometry.update(Rotation2d.fromDegrees( getHeading()),
+      m_odometry.update(Rotation2d.fromDegrees( -getHeading()-180),
                                               -inchesToMeters(getDistanceInches(m_rightFrontMotor)),
                                               inchesToMeters(getDistanceInches(m_leftFrontMotor)));
     }