diff --git a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
index f0df58ac..3e416783 100644
--- a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
+++ b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
@@ -89,7 +89,19 @@ public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves, SimpleM
    */
   public double getDriveBaseRadiusMeters()
   {
-    Translation2d furthestModule = moduleLocationsMeters[0];
-    return Math.abs(Math.sqrt(Math.pow(furthestModule.getX(), 2) + Math.pow(furthestModule.getY(), 2)));
+    //Find Center of Robot by adding all module offsets together. Should be zero, but incase it isn't
+    Translation2d centerOfModules = moduleLocationsMeters[0].plus(moduleLocationsMeters[1])
+                                    .plus(moduleLocationsMeters[2]).plus(moduleLocationsMeters[3]);
+
+    //Find Largest Radius by checking the distance to the center point 
+    double largestRadius = centerOfModules.getDistance(moduleLocationsMeters[0]);     
+    for(int i=1; i<moduleLocationsMeters.length; i++){
+      if(largestRadius < centerOfModules.getDistance(moduleLocationsMeters[i])){
+        largestRadius = centerOfModules.getDistance(moduleLocationsMeters[i]);
+      }
+    }          
+    
+    //Return Largest Radius
+    return largestRadius;
   }
 }