diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
index 857fd37a..d107d6e6 100644
--- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -82,7 +82,7 @@ public SwerveSubsystem(File directory)
       throw new RuntimeException(e);
     }
     swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot via angle.
-    swerveDrive.setCosineCompensator(SwerveDriveTelemetry.isSimulation); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life.
+    swerveDrive.setCosineCompensator(!SwerveDriveTelemetry.isSimulation); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life.
     setupPathPlanner();
   }