diff --git a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
index a39967af00..a4e0457891 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
@@ -10,8 +10,8 @@
 
 /**
  * This is a sample program that uses mecanum drive with a gyro sensor to
- * maintain rotation vectorsin relation to the starting orientation of the robot
- * (field-oriented controls).
+ * maintain rotation vectors in relation to the starting orientation of the
+ * robot (field-oriented controls).
  */
 class Robot : public frc::TimedRobot {
  public:
@@ -28,7 +28,7 @@ class Robot : public frc::TimedRobot {
    * Mecanum drive is used with the gyro angle as an input.
    */
   void TeleopPeriodic() override {
-    m_robotDrive.DriveCartesian(m_joystick.GetX(), m_joystick.GetY(),
+    m_robotDrive.DriveCartesian(-m_joystick.GetY(), m_joystick.GetX(),
                                 m_joystick.GetZ(), m_gyro.GetAngle());
   }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
index cc9632e009..f8d95acb19 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -24,7 +24,8 @@ class Robot : public frc::TimedRobot {
     /* Use the joystick X axis for lateral movement, Y axis for forward
      * movement, and Z axis for rotation.
      */
-    m_robotDrive.DriveCartesian(m_stick.GetX(), m_stick.GetY(), m_stick.GetZ());
+    m_robotDrive.DriveCartesian(-m_stick.GetY(), m_stick.GetX(),
+                                m_stick.GetZ());
   }
 
  private:
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
index bf26aa9015..8b4391c25a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj.drive.MecanumDrive;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 
 /**
- * This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation
- * vectorsin relation to the starting orientation of the robot (field-oriented controls).
+ * This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation vectors
+ * in relation to the starting orientation of the robot (field-oriented controls).
  */
 public class Robot extends TimedRobot {
   // gyro calibration constant, may need to be adjusted;
@@ -51,6 +51,6 @@ public class Robot extends TimedRobot {
   @Override
   public void teleopPeriodic() {
     m_robotDrive.driveCartesian(
-        m_joystick.getX(), m_joystick.getY(), m_joystick.getZ(), m_gyro.getAngle());
+        -m_joystick.getY(), m_joystick.getX(), m_joystick.getZ(), m_gyro.getAngle());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
index 9720f48ad3..1029f0f3fe 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
@@ -42,6 +42,6 @@ public class Robot extends TimedRobot {
   public void teleopPeriodic() {
     // Use the joystick X axis for lateral movement, Y axis for forward
     // movement, and Z axis for rotation.
-    m_robotDrive.driveCartesian(m_stick.getX(), m_stick.getY(), m_stick.getZ(), 0.0);
+    m_robotDrive.driveCartesian(-m_stick.getY(), m_stick.getX(), m_stick.getZ(), 0.0);
   }
 }