diff --git a/RELENTLESS/include/ary-lib/drive/drive.hpp b/RELENTLESS/include/ary-lib/drive/drive.hpp
index c625d34..d80a7a4 100644
--- a/RELENTLESS/include/ary-lib/drive/drive.hpp
+++ b/RELENTLESS/include/ary-lib/drive/drive.hpp
@@ -533,7 +533,7 @@ class Drive {
    * \param speed
    *        0 to 127, max speed during motion
    */
-  void set_swing_pid(e_swing type, double target, int speed);
+  void set_swing(e_swing type, double target, int speed);
 
   /**
    * Resets all PID targets to 0.
diff --git a/RELENTLESS/src/ary-lib/drive/set_pid.cpp b/RELENTLESS/src/ary-lib/drive/set_pid.cpp
index bf7075c..8a8e65b 100644
--- a/RELENTLESS/src/ary-lib/drive/set_pid.cpp
+++ b/RELENTLESS/src/ary-lib/drive/set_pid.cpp
@@ -99,7 +99,7 @@ void Drive::set_turn(double target, int speed) {
 }
 
 // Set swing PID
-void Drive::set_swing_pid(e_swing type, double target, int speed) {
+void Drive::set_swing(e_swing type, double target, int speed) {
   // Print targets
   if (print_toggle) printf("Swing Started... Target Value: %f\n", target);
   current_swing = type;