diff --git a/wpilibc/src/main/native/cpp/controller/HolonomicDriveController.cpp b/wpilibc/src/main/native/cpp/controller/HolonomicDriveController.cpp
index 87a436c106..d5b3833fe5 100644
--- a/wpilibc/src/main/native/cpp/controller/HolonomicDriveController.cpp
+++ b/wpilibc/src/main/native/cpp/controller/HolonomicDriveController.cpp
@@ -19,7 +19,7 @@ HolonomicDriveController::HolonomicDriveController(
 
 bool HolonomicDriveController::AtReference() const {
   const auto& eTranslate = m_poseError.Translation();
-  const auto& eRotate = m_poseError.Rotation();
+  const auto& eRotate = m_rotationError;
   const auto& tolTranslate = m_poseTolerance.Translation();
   const auto& tolRotate = m_poseTolerance.Rotation();
   return units::math::abs(eTranslate.X()) < tolTranslate.X() &&
@@ -41,6 +41,7 @@ ChassisSpeeds HolonomicDriveController::Calculate(
       currentPose.Rotation().Radians(), angleRef.Radians()));
 
   m_poseError = poseRef.RelativeTo(currentPose);
+  m_rotationError = angleRef - currentPose.Rotation();
 
   if (!m_enabled) {
     return ChassisSpeeds::FromFieldRelativeSpeeds(xFF, yFF, thetaFF,
diff --git a/wpilibc/src/main/native/include/frc/controller/HolonomicDriveController.h b/wpilibc/src/main/native/include/frc/controller/HolonomicDriveController.h
index 6713f75fe1..a02fd4e445 100644
--- a/wpilibc/src/main/native/include/frc/controller/HolonomicDriveController.h
+++ b/wpilibc/src/main/native/include/frc/controller/HolonomicDriveController.h
@@ -98,6 +98,7 @@ class HolonomicDriveController {
 
  private:
   Pose2d m_poseError;
+  Rotation2d m_rotationError;
   Pose2d m_poseTolerance;
   bool m_enabled = true;
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java
index 191dd57866..0072d36157 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/HolonomicDriveController.java
@@ -23,6 +23,7 @@ import edu.wpi.first.wpilibj.trajectory.Trajectory;
 @SuppressWarnings("MemberName")
 public class HolonomicDriveController {
   private Pose2d m_poseError = new Pose2d();
+  private Rotation2d m_rotationError = new Rotation2d();
   private Pose2d m_poseTolerance = new Pose2d();
   private boolean m_enabled = true;
 
@@ -52,7 +53,7 @@ public class HolonomicDriveController {
    */
   public boolean atReference() {
     final var eTranslate = m_poseError.getTranslation();
-    final var eRotate = m_poseError.getRotation();
+    final var eRotate = m_rotationError;
     final var tolTranslate = m_poseTolerance.getTranslation();
     final var tolRotate = m_poseTolerance.getRotation();
     return Math.abs(eTranslate.getX()) < tolTranslate.getX()
@@ -88,6 +89,7 @@ public class HolonomicDriveController {
         m_thetaController.calculate(currentPose.getRotation().getRadians(), angleRef.getRadians());
 
     m_poseError = poseRef.relativeTo(currentPose);
+    m_rotationError = angleRef.minus(currentPose.getRotation());
 
     if (!m_enabled) {
       return ChassisSpeeds.fromFieldRelativeSpeeds(xFF, yFF, thetaFF, currentPose.getRotation());