diff --git a/RELENTLESS/include/ary-lib/util.hpp b/RELENTLESS/include/ary-lib/util.hpp
index e932e4e..741ea28 100644
--- a/RELENTLESS/include/ary-lib/util.hpp
+++ b/RELENTLESS/include/ary-lib/util.hpp
@@ -89,7 +89,7 @@ extern bool AUTON_RAN;
 /**
  * Returns 1 if input is positive and -1 if input is negative
  */
-int sgn(double input);
+int signum(double input);
 
 /**
  * Returns true if the input is < 0
diff --git a/RELENTLESS/src/ary-lib/PID.cpp b/RELENTLESS/src/ary-lib/PID.cpp
index 10fd0bc..6fff97d 100644
--- a/RELENTLESS/src/ary-lib/PID.cpp
+++ b/RELENTLESS/src/ary-lib/PID.cpp
@@ -2,6 +2,7 @@
 #include "util.hpp"
 
 using namespace ary;
+using namespace util;
 
 void PID::reset_variables() {
   output = 0;
@@ -59,7 +60,7 @@ double PID::calculate(double dist) {
   if (constants.ki != 0) {
       integral += error;
 
-    if (util::sgn(error) != util::sgn(lastError))
+    if (signum(error) != signum(lastError))
       integral = 0;
   }
 
diff --git a/RELENTLESS/src/ary-lib/util.cpp b/RELENTLESS/src/ary-lib/util.cpp
index 68f74e4..62a9060 100644
--- a/RELENTLESS/src/ary-lib/util.cpp
+++ b/RELENTLESS/src/ary-lib/util.cpp
@@ -131,7 +131,7 @@ bool is_reversed(double input) {
   return false;
 }
 
-int sgn(double input) {
+int signum(double input) {
   if (input > 0)
     return 1;
   else if (input < 0)