diff --git a/RELENTLESS/include/ary-lib/drive/drive.hpp b/RELENTLESS/include/ary-lib/drive/drive.hpp
index c8e3f2b..10486e8 100644
--- a/RELENTLESS/include/ary-lib/drive/drive.hpp
+++ b/RELENTLESS/include/ary-lib/drive/drive.hpp
@@ -511,7 +511,7 @@ class Drive {
    * \param toggle_heading
    *        toggle for heading correction
    */
-  void set_drive_pid(double target, int speed, bool slew_on = false, bool toggle_heading = true);
+  void set_drive(double target, int speed, bool slew_on = false, bool toggle_heading = true);
 
   /**
    * Sets the robot to turn using PID.
diff --git a/RELENTLESS/src/ary-lib/drive/set_pid.cpp b/RELENTLESS/src/ary-lib/drive/set_pid.cpp
index 710b281..22138d1 100644
--- a/RELENTLESS/src/ary-lib/drive/set_pid.cpp
+++ b/RELENTLESS/src/ary-lib/drive/set_pid.cpp
@@ -38,7 +38,7 @@ int Drive::get_swing_min() { return swing_min; }
 e_mode Drive::get_mode() { return mode; }
 
 // Set drive PID
-void Drive::set_drive_pid(double target, int speed, bool slew_on, bool toggle_heading) {
+void Drive::set_drive(double target, int speed, bool slew_on, bool toggle_heading) {
   TICK_PER_INCH = get_tick_per_inch();
 
   // Print targets