diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
index 4ee98ae4ba..f958cde4d8 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -30,12 +30,14 @@ RobotContainer::RobotContainer() {
   ConfigureButtonBindings();
 
   // Set up default drive command
+  // The left stick controls translation of the robot.
+  // Turning is controlled by the X axis of the right stick.
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.Drive(
             units::meters_per_second_t(m_driverController.GetLeftY()),
-            units::meters_per_second_t(m_driverController.GetRightY()),
-            units::radians_per_second_t(m_driverController.GetLeftX()), false);
+            units::meters_per_second_t(m_driverController.GetLeftX()),
+            units::radians_per_second_t(m_driverController.GetRightX()), false);
       },
       {&m_drive}));
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
index 5cbe38b080..4636c37628 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
@@ -50,7 +50,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    -m_driverController.getRightY(), m_driverController.getLeftX()),
+                    -m_driverController.getLeftY(), m_driverController.getRightX()),
             m_robotDrive));
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
index a1a299a7c0..4884a5d76f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
@@ -42,16 +42,15 @@ public class RobotContainer {
     configureButtonBindings();
 
     // Configure default commands
-    // Set the default drive command to split-stick arcade drive
     m_robotDrive.setDefaultCommand(
-        // A split-stick arcade command, with forward/backward controlled by the left
-        // hand, and turning controlled by the right.
+        // The left stick controls translation of the robot.
+        // Turning is controlled by the X axis of the right stick.
         new RunCommand(
             () ->
                 m_robotDrive.drive(
                     m_driverController.getLeftY(),
-                    m_driverController.getRightX(),
                     m_driverController.getLeftX(),
+                    m_driverController.getRightX(),
                     false),
             m_robotDrive));
   }