diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
index 7ef4af3241..60f619e2d6 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -69,8 +69,8 @@ void DriveSubsystem::SetModuleStates(
   kDriveKinematics.NormalizeWheelSpeeds(&desiredStates,
                                         AutoConstants::kMaxSpeed);
   m_frontLeft.SetDesiredState(desiredStates[0]);
-  m_rearLeft.SetDesiredState(desiredStates[1]);
-  m_frontRight.SetDesiredState(desiredStates[2]);
+  m_frontRight.SetDesiredState(desiredStates[1]);
+  m_rearLeft.SetDesiredState(desiredStates[2]);
   m_rearRight.SetDesiredState(desiredStates[3]);
 }