From bd7a88a6d03c9d22cc1dca47952388b363b9f337 Mon Sep 17 00:00:00 2001
From: Warren Reynolds <43365474+w-reynolds@users.noreply.github.com>
Date: Wed, 19 Nov 2025 12:13:27 +1100
Subject: [PATCH] [examples] Fix order of Swerve Modules in Odometry Update
 (#8396)

The order of the Swerve Modules in the m_odometry.Update call needs to
match the order they are defined in the creation of the kDriveKinematics
object.
---
 .../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 a6b810a386..cace6112d1 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -45,8 +45,8 @@ DriveSubsystem::DriveSubsystem()
 void DriveSubsystem::Periodic() {
   // Implementation of subsystem periodic method goes here.
   m_odometry.Update(m_gyro.GetRotation2d(),
-                    {m_frontLeft.GetPosition(), m_rearLeft.GetPosition(),
-                     m_frontRight.GetPosition(), m_rearRight.GetPosition()});
+                    {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
+                     m_rearLeft.GetPosition(), m_rearRight.GetPosition()});
 }
 
 void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,