diff --git a/wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp
index ea4697c58d..fdbc9e1a07 100644
--- a/wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp
@@ -61,27 +61,30 @@ public:
 		// "Auto Selector", kAutoNameDefault);
 		std::cout << "Auto selected: " << autoSelected << std::endl;
 
+		// MotorSafety improves safety when motors are updated in loops
+		// but is disabled here because motor updates are not looped in
+		// this autonomous mode.
+		m_robotDrive.SetSafetyEnabled(false);
+
 		if (autoSelected == kAutoNameCustom) {
 			// Custom Auto goes here
 			std::cout << "Running custom Autonomous" << std::endl;
-			m_robotDrive.SetSafetyEnabled(false);
 
-			// spin at half speed for two seconds
+			// Spin at half speed for two seconds
 			m_robotDrive.ArcadeDrive(0.0, 0.5);
 			frc::Wait(2.0);
 
-			// stop robot
+			// Stop robot
 			m_robotDrive.ArcadeDrive(0.0, 0.0);
 		} else {
 			// Default Auto goes here
 			std::cout << "Running default Autonomous" << std::endl;
-			m_robotDrive.SetSafetyEnabled(false);
 
-			// drive forwards at half speed for two seconds
+			// Drive forwards at half speed for two seconds
 			m_robotDrive.ArcadeDrive(-0.5, 0.0);
 			frc::Wait(2.0);
 
-			// stop robot
+			// Stop robot
 			m_robotDrive.ArcadeDrive(0.0, 0.0);
 		}
 	}
@@ -92,11 +95,11 @@ public:
 	void OperatorControl() override {
 		m_robotDrive.SetSafetyEnabled(true);
 		while (IsOperatorControl() && IsEnabled()) {
-			// drive with arcade style (use right stick)
+			// Drive with arcade style (use right stick)
 			m_robotDrive.ArcadeDrive(
-					m_stick.GetY(), m_stick.GetX());
+					-m_stick.GetY(), m_stick.GetX());
 
-			// wait for a motor update time
+			// The motors will be updated every 5ms
 			frc::Wait(0.005);
 		}
 	}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
index beac9cffd5..ce33ff0476 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
@@ -96,19 +96,28 @@ public class Robot extends SampleRobot {
 		// defaultAuto);
 		System.out.println("Auto selected: " + autoSelected);
 
+		// MotorSafety improves safety when motors are updated in loops
+		// but is disabled here because motor updates are not looped in
+		// this autonomous mode.
+		m_robotDrive.setSafetyEnabled(false);
+
 		switch (autoSelected) {
 			case kCustomAuto:
-				m_robotDrive.setSafetyEnabled(false);
-				m_robotDrive.arcadeDrive(0.0, 0.5); // spin at half speed
-				Timer.delay(2.0); // for 2 seconds
-				m_robotDrive.arcadeDrive(0.0, 0.0); // stop robot
+				// Spin at half speed for two seconds
+				m_robotDrive.arcadeDrive(0.0, 0.5);
+				Timer.delay(2.0);
+
+				// Stop robot
+				m_robotDrive.arcadeDrive(0.0, 0.0);
 				break;
 			case kDefaultAuto:
 			default:
-				m_robotDrive.setSafetyEnabled(false);
-				m_robotDrive.arcadeDrive(-0.5, 0.0); // drive forwards
-				Timer.delay(2.0); // for 2 seconds
-				m_robotDrive.arcadeDrive(0.0, 0.0); // stop robot
+				// Drive forwards for two seconds
+				m_robotDrive.arcadeDrive(-0.5, 0.0);
+				Timer.delay(2.0);
+
+				// Stop robot
+				m_robotDrive.arcadeDrive(0.0, 0.0);
 				break;
 		}
 	}
@@ -130,9 +139,10 @@ public class Robot extends SampleRobot {
 	public void operatorControl() {
 		m_robotDrive.setSafetyEnabled(true);
 		while (isOperatorControl() && isEnabled()) {
-			// drive arcade style
-			m_robotDrive.arcadeDrive(m_stick.getX(), m_stick.getY());
-			// wait for a motor update time
+			// Drive arcade style
+			m_robotDrive.arcadeDrive(-m_stick.getY(), m_stick.getX());
+
+			// The motors will be updated every 5ms
 			Timer.delay(0.005);
 		}
 	}