diff --git a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
index 3e416783..6309e680 100644
--- a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
+++ b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java
@@ -89,19 +89,14 @@ public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves, SimpleM
    */
   public double getDriveBaseRadiusMeters()
   {
-    //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]);
+    Translation2d centerOfModules = moduleLocationsMeters[0];
 
-    //Find Largest Radius by checking the distance to the center point 
-    double largestRadius = centerOfModules.getDistance(moduleLocationsMeters[0]);     
+    //Calculate the Center by adding all module offsets together.
     for(int i=1; i<moduleLocationsMeters.length; i++){
-      if(largestRadius < centerOfModules.getDistance(moduleLocationsMeters[i])){
-        largestRadius = centerOfModules.getDistance(moduleLocationsMeters[i]);
-      }
-    }          
+      centerOfModules = centerOfModules.plus(moduleLocationsMeters[i]);
+    }  
     
     //Return Largest Radius
-    return largestRadius;
+    return centerOfModules.getDistance(moduleLocationsMeters[0]);
   }
 }