diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 30a8d7e0..27c5a743 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -14,6 +14,7 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.ADIS16470_IMU;
+import frc.robot.Constants;
 import frc.robot.Constants.DriveConstants;
 import frc.utils.SwerveUtils;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -52,10 +53,11 @@ public class DriveSubsystem extends SubsystemBase {
   private SlewRateLimiter m_rotLimiter = new SlewRateLimiter(DriveConstants.kRotationalSlewRate);
   private double m_prevTime = WPIUtilJNI.now() * 1e-6;
 
+
   // Odometry class for tracking robot pose
   SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(
       DriveConstants.kDriveKinematics,
-      Rotation2d.fromDegrees(m_gyro.getAngle()),
+      Rotation2d.fromDegrees(m_gyro.getAngle() * (DriveConstants.kGyroReversed ? -1.0 : 1.0)),
       new SwerveModulePosition[] {
           m_frontLeft.getPosition(),
           m_frontRight.getPosition(),
@@ -71,7 +73,7 @@ public DriveSubsystem() {
   public void periodic() {
     // Update the odometry in the periodic block
     m_odometry.update(
-        Rotation2d.fromDegrees(m_gyro.getAngle()),
+        Rotation2d.fromDegrees(m_gyro.getAngle() * (DriveConstants.kGyroReversed ? -1.0 : 1.0)),
         new SwerveModulePosition[] {
             m_frontLeft.getPosition(),
             m_frontRight.getPosition(),
@@ -96,7 +98,7 @@ public Pose2d getPose() {
    */
   public void resetOdometry(Pose2d pose) {
     m_odometry.resetPosition(
-        Rotation2d.fromDegrees(m_gyro.getAngle()),
+        Rotation2d.fromDegrees(m_gyro.getAngle() * (DriveConstants.kGyroReversed ? -1.0 : 1.0)),
         new SwerveModulePosition[] {
             m_frontLeft.getPosition(),
             m_frontRight.getPosition(),
@@ -176,7 +178,7 @@ else if (angleDif > 0.85*Math.PI) {
 
     var swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(
         fieldRelative
-            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, Rotation2d.fromDegrees(m_gyro.getAngle()))
+            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, Rotation2d.fromDegrees(m_gyro.getAngle() * (DriveConstants.kGyroReversed ? -1.0 : 1.0)))
             : new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
     SwerveDriveKinematics.desaturateWheelSpeeds(
         swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
@@ -229,7 +231,7 @@ public void zeroHeading() {
    * @return the robot's heading in degrees, from -180 to 180
    */
   public double getHeading() {
-    return Rotation2d.fromDegrees(m_gyro.getAngle()).getDegrees();
+    return Rotation2d.fromDegrees(m_gyro.getAngle() * (DriveConstants.kGyroReversed ? -1.0 : 1.0)).getDegrees();
   }
 
   /**