diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelPinpointIMULocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelPinpointIMULocalizer.java
index d2e03f3..bdf418e 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelPinpointIMULocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelPinpointIMULocalizer.java
@@ -113,7 +113,7 @@ public class TwoWheelPinpointIMULocalizer extends Localizer {
      */
     @Override
     public Pose getPose() {
-        return MathFunctions.addPoses(startPose, displacementPose);
+        return new Pose(startPose.getX()+displacementPose.getX(), startPose.getY()+displacementPose.getY(),displacementPose.getHeading());
     }
 
     /**