diff --git a/lib/trajectory/trajectory.dart b/lib/trajectory/trajectory.dart
index 55820611..8ff8301f 100644
--- a/lib/trajectory/trajectory.dart
+++ b/lib/trajectory/trajectory.dart
@@ -219,7 +219,7 @@ class PathPlannerTrajectory {
       var accelStates =
           robotConfig.kinematics.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < numModules; m++) {
-        num moduleAcceleration = accelStates[m].speedMetersPerSecond;
+        num moduleAcceleration = accelStates[m].speedMetersPerSecond.abs();
 
         // Calculate the module velocity at the current state
         // vf^2 = v0^2 + 2ad
@@ -371,7 +371,7 @@ class PathPlannerTrajectory {
 
       // Use the robot accelerations to calculate how each module should decelerate
       for (int m = 0; m < numModules; m++) {
-        num moduleAcceleration = accelStates[m].speedMetersPerSecond;
+        num moduleAcceleration = accelStates[m].speedMetersPerSecond.abs();
 
         // Calculate the module velocity at the current state
         // vf^2 = v0^2 + 2ad
diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
index 024f00e1..92f2671f 100644
--- a/pathplannerlib-python/pathplannerlib/trajectory.py
+++ b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -564,7 +564,7 @@ def _forwardAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
                                                              state.pose.rotation())
         accelStates = config.toSwerveModuleStates(chassisAccel)
         for m in range(config.numModules):
-            moduleAcceleration = accelStates[m].speed
+            moduleAcceleration = abs(accelStates[m].speed)
 
             # Calculate the module velocity at the current state
             # vf^2 = v0^2 + 2ad
@@ -669,7 +669,7 @@ def _reverseAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
                                                              state.pose.rotation())
         accelStates = config.toSwerveModuleStates(chassisAccel)
         for m in range(config.numModules):
-            moduleAcceleration = accelStates[m].speed
+            moduleAcceleration = abs(accelStates[m].speed)
 
             # Calculate the module velocity at the current state
             # vf^2 = v0^2 + 2ad
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
index 7f3d3f64..089a02bc 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
@@ -382,7 +382,7 @@ private static void forwardAccelPass(
               accelVec.getX(), accelVec.getY(), angularAccel, state.pose.getRotation());
       var accelStates = config.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < config.numModules; m++) {
-        double moduleAcceleration = accelStates[m].speedMetersPerSecond;
+        double moduleAcceleration = Math.abs(accelStates[m].speedMetersPerSecond);
 
         // Calculate the module velocity at the current state
         // vf^2 = v0^2 + 2ad
@@ -527,7 +527,7 @@ private static void reverseAccelPass(
               state.pose.getRotation());
       var accelStates = config.toSwerveModuleStates(chassisAccel);
       for (int m = 0; m < config.numModules; m++) {
-        double moduleAcceleration = accelStates[m].speedMetersPerSecond;
+        double moduleAcceleration = Math.abs(accelStates[m].speedMetersPerSecond);
 
         // Calculate the module velocity at the current state
         // vf^2 = v0^2 + 2ad
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
index aa61f475..12ed45e8 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
@@ -420,7 +420,7 @@ void PathPlannerTrajectory::forwardAccelPass(
 		auto accelStates = config.toSwerveModuleStates(chassisAccel);
 		for (size_t m = 0; m < config.numModules; m++) {
 			units::meters_per_second_squared_t moduleAcceleration {
-					accelStates[m].speed() };
+					units::math::abs(accelStates[m].speed)() };
 
 			// Calculate the module velocity at the current state
 			// vf^2 = v0^2 + 2ad
@@ -580,7 +580,7 @@ void PathPlannerTrajectory::reverseAccelPass(
 		auto accelStates = config.toSwerveModuleStates(chassisAccel);
 		for (size_t m = 0; m < config.numModules; m++) {
 			units::meters_per_second_squared_t moduleAcceleration {
-					accelStates[m].speed() };
+					units::math::abs(accelStates[m].speed)() };
 
 			// Calculate the module velocity at the current state
 			// vf^2 = v0^2 + 2ad