diff --git a/swervelib/parser/SwerveDriveConfiguration.java b/swervelib/parser/SwerveDriveConfiguration.java
index 06ec164..4cebfb8 100644
--- a/swervelib/parser/SwerveDriveConfiguration.java
+++ b/swervelib/parser/SwerveDriveConfiguration.java
@@ -83,28 +83,20 @@ public class SwerveDriveConfiguration
   }
 
   /**
-   * Assume the first module is the furthest. Usually front-left.
+   * Calculate the Drive Base Radius
    *
    * @return Drive base radius from center of robot to the farthest wheel in meters.
    */
   public double getDriveBaseRadiusMeters()
   {
-    //Find Center of Robot by adding all module offsets together. Should be zero, but incase it isn't
-    Translation2d centerOfModules = moduleLocationsMeters[0].plus(moduleLocationsMeters[1])
-                                                            .plus(moduleLocationsMeters[2])
-                                                            .plus(moduleLocationsMeters[3]);
-
-    //Find Largest Radius by checking the distance to the center point 
-    double largestRadius = centerOfModules.getDistance(moduleLocationsMeters[0]);
-    for (int i = 1; i < moduleLocationsMeters.length; i++)
-    {
-      if (largestRadius < centerOfModules.getDistance(moduleLocationsMeters[i]))
-      {
-        largestRadius = centerOfModules.getDistance(moduleLocationsMeters[i]);
-      }
-    }
+    Translation2d centerOfModules = moduleLocationsMeters[0];
 
+    //Calculate the Center by adding all module offsets together.
+    for(int i=1; i<moduleLocationsMeters.length; i++){
+      centerOfModules = centerOfModules.plus(moduleLocationsMeters[i]);
+    }  
+    
     //Return Largest Radius
-    return largestRadius;
+    return centerOfModules.getDistance(moduleLocationsMeters[0]);
   }
 }