diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
index 9120fa6c77..292ad1f52c 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -50,9 +50,9 @@ void DriveSubsystem::Periodic() {
 void DriveSubsystem::Drive(double xSpeed, double ySpeed, double rot,
                            bool fieldRelative) {
   if (fieldRelative) {
-    m_drive.DriveCartesian(ySpeed, xSpeed, rot, m_gyro.GetRotation2d());
+    m_drive.DriveCartesian(xSpeed, ySpeed, rot, m_gyro.GetRotation2d());
   } else {
-    m_drive.DriveCartesian(ySpeed, xSpeed, rot);
+    m_drive.DriveCartesian(xSpeed, ySpeed, rot);
   }
 }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
index 50a23cd19c..83b9c9fa3f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
@@ -113,9 +113,9 @@ public class DriveSubsystem extends SubsystemBase {
    */
   public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
     if (fieldRelative) {
-      m_drive.driveCartesian(ySpeed, xSpeed, rot, m_gyro.getRotation2d());
+      m_drive.driveCartesian(xSpeed, ySpeed, rot, m_gyro.getRotation2d());
     } else {
-      m_drive.driveCartesian(ySpeed, xSpeed, rot);
+      m_drive.driveCartesian(xSpeed, ySpeed, rot);
     }
   }
 
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 c681a86e48..f37654321d 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
@@ -40,7 +40,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void teleopPeriodic() {
-    // Use the joystick X axis for forward movement, Y axis for lateral
+    // Use the joystick Y axis for forward movement, X axis for lateral
     // movement, and Z axis for rotation.
     m_robotDrive.driveCartesian(-m_stick.getY(), -m_stick.getX(), -m_stick.getZ());
   }