diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
index f2198552c4..e346e41cb7 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
@@ -27,7 +27,7 @@ class Robot : public frc::TimedRobot {
 
   void TeleopPeriodic() override {
     // Drive with arcade style
-    m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
+    m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX());
   }
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
index 23c9a569dd..7f497b36e3 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
@@ -30,7 +30,7 @@ class Robot : public frc::TimedRobot {
     // That means that the Y axis of the left stick moves forward
     // and backward, and the X of the right stick turns left and right.
     m_robotDrive.ArcadeDrive(-m_driverController.GetLeftY(),
-                             -m_driverController.GetRightX());
+                             m_driverController.GetRightX());
   }
 };
 
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
index 1dfff1253a..158945e642 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
@@ -18,7 +18,7 @@ RobotContainer::RobotContainer() {
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            -m_driverController.GetRightX());
+                            m_driverController.GetRightX());
       },
       {&m_drive}));
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
index bf62e3c8df..1f6a138bc5 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
@@ -18,7 +18,7 @@ RobotContainer::RobotContainer() {
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            -m_driverController.GetRightX());
+                            m_driverController.GetRightX());
       },
       {&m_drive}));
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
index 31293409a5..bc940cd319 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
@@ -19,7 +19,7 @@ RobotContainer::RobotContainer() {
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            -m_driverController.GetRightX());
+                            m_driverController.GetRightX());
       },
       {&m_drive}));
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
index a8effa33d7..c459739b96 100644
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
@@ -17,7 +17,7 @@ RobotContainer::RobotContainer() {
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            -m_driverController.GetRightX());
+                            m_driverController.GetRightX());
       },
       {&m_drive}));
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
index 42f7bdc07b..003a08acfc 100644
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -39,7 +39,7 @@ class Robot : public frc::TimedRobot {
 
   void TeleopPeriodic() override {
     // Drive with arcade style (use right stick)
-    m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
+    m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX());
   }
 
   void TestInit() override {}
diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
index 744dd590b2..0e1410e0ac 100644
--- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -34,7 +34,7 @@ class Robot : public frc::TimedRobot {
     double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
     // Invert the direction of the turn if we are going backwards
     turningValue = std::copysign(turningValue, m_joystick.GetY());
-    m_robotDrive.ArcadeDrive(m_joystick.GetY(), turningValue);
+    m_robotDrive.ArcadeDrive(-m_joystick.GetY(), turningValue);
   }
 
  private:
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
index eb95395475..6f5911e2a9 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
@@ -19,7 +19,7 @@ RobotContainer::RobotContainer() {
   // Set up default drive command
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.ArcadeDrive(m_driverController.GetLeftY(),
+        m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
                             m_driverController.GetRightX());
       },
       {&m_drive}));
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
index 31a78b5b9e..8fae7d2a7e 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -23,7 +23,7 @@ RobotContainer::RobotContainer() {
   // Set up default drive command
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
-        m_drive.ArcadeDrive(m_driverController.GetLeftY(),
+        m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
                             m_driverController.GetRightX());
       },
       {&m_drive}));
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
index 9d3aab2488..6f8c5a60b5 100644
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -28,7 +28,7 @@ RobotContainer::RobotContainer() {
   // Set up default drive command
   m_drive.SetDefaultCommand(DefaultDrive(
       &m_drive, [this] { return -m_driverController.GetLeftY(); },
-      [this] { return -m_driverController.GetRightX(); }));
+      [this] { return m_driverController.GetRightX(); }));
 }
 
 void RobotContainer::ConfigureButtonBindings() {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
index 82f470061e..a4245d6ce4 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
@@ -29,7 +29,7 @@ RobotContainer::RobotContainer() {
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
-                            -m_driverController.GetRightX());
+                            m_driverController.GetRightX());
       },
       {&m_drive}));
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
index d15c9724b4..5eef7e869b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
@@ -32,6 +32,6 @@ public class Robot extends TimedRobot {
     // Drive with arcade drive.
     // That means that the Y axis drives forward
     // and backward, and the X turns left and right.
-    m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
+    m_robotDrive.arcadeDrive(-m_stick.getY(), m_stick.getX());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
index aa0f9a20ea..656165a64b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
@@ -32,6 +32,6 @@ public class Robot extends TimedRobot {
     // Drive with split arcade drive.
     // That means that the Y axis of the left stick moves forward
     // and backward, and the X of the right stick turns left and right.
-    m_robotDrive.arcadeDrive(-m_driverController.getLeftY(), -m_driverController.getRightX());
+    m_robotDrive.arcadeDrive(-m_driverController.getLeftY(), m_driverController.getRightX());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
index e2240b20ed..4717d51709 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
@@ -42,7 +42,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), m_driverController.getRightX()),
             m_robotDrive));
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
index f7f3768238..7ea79995b3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
@@ -42,7 +42,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), m_driverController.getRightX()),
             m_robotDrive));
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
index 9fab6ddfef..cc39207569 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
@@ -44,7 +44,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), m_driverController.getRightX()),
             m_robotDrive));
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
index 679771ee79..1f00dd9ce8 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
@@ -67,7 +67,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), m_driverController.getRightX()),
             m_robotDrive));
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
index a8bbb239c9..b0c6641ff2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
@@ -52,6 +52,6 @@ public class Robot extends TimedRobot {
     double turningValue = (kAngleSetpoint - m_gyro.getAngle()) * kP;
     // Invert the direction of the turn if we are going backwards
     turningValue = Math.copySign(turningValue, m_joystick.getY());
-    m_myRobot.arcadeDrive(m_joystick.getY(), turningValue);
+    m_myRobot.arcadeDrive(-m_joystick.getY(), turningValue);
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
index 1356a370f9..b70f5bf649 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
@@ -45,7 +45,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    m_driverController.getLeftY(), m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), m_driverController.getRightX()),
             m_robotDrive));
   }
 
@@ -74,7 +74,7 @@ public class RobotContainer {
                 // Setpoint is 0
                 0,
                 // Pipe the output to the turning controls
-                output -> m_robotDrive.arcadeDrive(m_driverController.getLeftY(), output),
+                output -> m_robotDrive.arcadeDrive(-m_driverController.getLeftY(), output),
                 // Require the robot drive
                 m_robotDrive));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
index 220737948c..cda9e26c04 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
@@ -69,7 +69,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    m_driverController.getLeftY(), m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), m_driverController.getRightX()),
             m_robotDrive));
 
     // Add commands to the autonomous command chooser
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
index a7515c2370..5df8d2f584 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
@@ -53,7 +53,7 @@ public class RobotContainer {
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(
-                    -m_driverController.getLeftY(), -m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), m_driverController.getRightX()),
             m_robotDrive));
   }
 
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 c1cc6c0a82..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.getLeftY(), -m_driverController.getRightX()),
+                    -m_driverController.getLeftY(), m_driverController.getRightX()),
             m_robotDrive));
   }