From 6f91f37cd0082e12b1109607481ce9a339f6c7d8 Mon Sep 17 00:00:00 2001
From: WarrenReynolds <86037820+WarrenReynolds@users.noreply.github.com>
Date: Thu, 23 Dec 2021 07:26:02 +1100
Subject: [PATCH] [examples] Fix SwerveControllerCommand order of Module States
 (#3815)

DriveSubsystem::SetModulesStates applies module state to incorrect modules.

Fixes #3814.
---
 .../SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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]);
 }