diff --git a/src/EZ-Template/drive/set_pid/set_swing_pid.cpp b/src/EZ-Template/drive/set_pid/set_swing_pid.cpp
index a5826d52..41d2b787 100644
--- a/src/EZ-Template/drive/set_pid/set_swing_pid.cpp
+++ b/src/EZ-Template/drive/set_pid/set_swing_pid.cpp
@@ -285,11 +285,16 @@ void Drive::pid_swing_set(e_swing type, double target, int speed, int opposite_s
 
   // Print targets
   if (print_toggle) printf("Swing Started... Target Value: %.2f\n", target);
-  current_swing = type;
+
   chain_sensor_start = drive_imu_get();
   chain_target_start = target;
   used_motion_chain_scale = 0.0;
 
+  // Flip the swing from left-right if rotation axis is flipped
+  if (odom_theta_direction_get()) 
+    current_swing = type == ez::LEFT_SWING ? ez::RIGHT_SWING : ez::LEFT_SWING;
+  
+
   // Figure out if going forward or backward
   int side = type == ez::LEFT_SWING ? 1 : -1;
   int direction = util::sgn((target - chain_sensor_start) * side);