diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 3cb2254e..1894a5cb 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -47,7 +47,7 @@ public class DriveSubsystem extends SubsystemBase {
   // Odometry class for tracking robot pose
   SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(
       DriveConstants.kDriveKinematics,
-      Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+      getHeading(),
       new SwerveModulePosition[] {
           m_frontLeft.getPosition(),
           m_frontRight.getPosition(),
@@ -65,7 +65,7 @@ public DriveSubsystem() {
   public void periodic() {
     // Update the odometry in the periodic block
     m_odometry.update(
-        Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+        getHeading(),
         new SwerveModulePosition[] {
             m_frontLeft.getPosition(),
             m_frontRight.getPosition(),
@@ -90,7 +90,7 @@ public Pose2d getPose() {
    */
   public void resetOdometry(Pose2d pose) {
     m_odometry.resetPosition(
-        Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+        getHeading(),
         new SwerveModulePosition[] {
             m_frontLeft.getPosition(),
             m_frontRight.getPosition(),
@@ -117,8 +117,7 @@ public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelativ
 
     var swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(
         fieldRelative
-            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered,
-                Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)))
+            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, getHeading())
             : new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
     SwerveDriveKinematics.desaturateWheelSpeeds(
         swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
@@ -168,10 +167,10 @@ public void zeroHeading() {
   /**
    * Returns the heading of the robot.
    *
-   * @return the robot's heading in degrees, from -180 to 180
+   * @return the robot's heading as a Rotation2d
    */
-  public double getHeading() {
-    return Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)).getDegrees();
+  public Rotation2d getHeading() {
+    return Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ) * (DriveConstants.kGyroReversed ? -1.0 : 1.0));
   }
 
   /**