diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
index 9f1b12bc9f..3e5326c86c 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -50,7 +50,8 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
                        units::second_t period) {
   auto wheelSpeeds = m_kinematics.ToWheelSpeeds(frc::ChassisSpeeds::Discretize(
       fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
-                          xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
+                          xSpeed, ySpeed, rot,
+                          m_poseEstimator.GetEstimatedPosition().Rotation())
                     : frc::ChassisSpeeds{xSpeed, ySpeed, rot},
       period));
   wheelSpeeds.Desaturate(kMaxSpeed);
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
index a365f7f22c..188e944504 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -15,7 +15,8 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
   auto states =
       m_kinematics.ToSwerveModuleStates(frc::ChassisSpeeds::Discretize(
           fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
-                              xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
+                              xSpeed, ySpeed, rot,
+                              m_poseEstimator.GetEstimatedPosition().Rotation())
                         : frc::ChassisSpeeds{xSpeed, ySpeed, rot},
           period));
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
index 4b643bd259..b5c34c47bf 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
@@ -147,7 +147,7 @@ public class Drivetrain {
             ChassisSpeeds.discretize(
                 fieldRelative
                     ? ChassisSpeeds.fromFieldRelativeSpeeds(
-                        xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                        xSpeed, ySpeed, rot, m_poseEstimator.getEstimatedPosition().getRotation())
                     : new ChassisSpeeds(xSpeed, ySpeed, rot),
                 periodSeconds));
     mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
index 923af5b21e..6eb80e0fe5 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
@@ -71,7 +71,7 @@ public class Drivetrain {
             ChassisSpeeds.discretize(
                 fieldRelative
                     ? ChassisSpeeds.fromFieldRelativeSpeeds(
-                        xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                        xSpeed, ySpeed, rot, m_poseEstimator.getEstimatedPosition().getRotation())
                     : new ChassisSpeeds(xSpeed, ySpeed, rot),
                 periodSeconds));
     SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);