diff --git a/server_v2/src/OdometryController.cpp b/server_v2/src/OdometryController.cpp
index 2ee64fe..281e3bb 100644
--- a/server_v2/src/OdometryController.cpp
+++ b/server_v2/src/OdometryController.cpp
@@ -63,10 +63,10 @@ OdometryController::OdometryController() {
 
       // Forward and Rotational velocity have already been integrated.
       auto dist_forward = (distance_right + distance_left) / 2.0;
-      auto dist_rot = (distance_right + distance_left) / ROBOT_ARBOR_LENGTH_M;
+      auto dist_rot = (distance_right - distance_left) / ROBOT_ARBOR_LENGTH_M;
 
-      auto x = dist_forward * -sin(dist_rot);
-      auto y = dist_forward * cos(dist_rot);
+      auto x = dist_forward * cos(dist_rot);
+      auto y = dist_forward * sin(dist_rot);
       auto theta = dist_rot;
 
       auto new_x_position = current_odometry.get_x_position();