diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/TwoWheelTrackingLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/TwoWheelTrackingLocalizer.java
index 6d639f8..70be980 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/TwoWheelTrackingLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/TwoWheelTrackingLocalizer.java
@@ -63,7 +63,7 @@ public class TwoWheelTrackingLocalizer extends TwoTrackingWheelLocalizer {
         this.drive = drive;
 
         parallelEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rightRear"));
-        perpendicularEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rightFront"));
+        perpendicularEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "leftFront"));
 
         // TODO: reverse any encoders using Encoder.setDirection(Encoder.Direction.REVERSE)
         parallelEncoder.setDirection(Encoder.Direction.REVERSE);