diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
index aa295e4..5f3290a 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java
@@ -71,8 +71,8 @@ public class DriveEncoderLocalizer extends Localizer {
 
         // TODO: reverse any encoders necessary
         leftFront.setDirection(Encoder.REVERSE);
-        rightRear.setDirection(Encoder.REVERSE);
-        leftRear.setDirection(Encoder.FORWARD);
+        leftRear.setDirection(Encoder.REVERSE);
+        rightFront.setDirection(Encoder.FORWARD);
         rightRear.setDirection(Encoder.FORWARD);
 
         setStartPose(setStartPose);