diff --git a/RELENTLESS/include/ary-lib/drive/drive.hpp b/RELENTLESS/include/ary-lib/drive/drive.hpp
index 10486e8..c625d34 100644
--- a/RELENTLESS/include/ary-lib/drive/drive.hpp
+++ b/RELENTLESS/include/ary-lib/drive/drive.hpp
@@ -521,7 +521,7 @@ class Drive {
    * \param speed
    *        0 to 127, max speed during motion
    */
-  void set_turn_pid(double target, int speed);
+  void set_turn(double target, int speed);
 
   /**
    * Turn using only the left or right side.
diff --git a/RELENTLESS/src/ary-lib/drive/set_pid.cpp b/RELENTLESS/src/ary-lib/drive/set_pid.cpp
index 22138d1..bf7075c 100644
--- a/RELENTLESS/src/ary-lib/drive/set_pid.cpp
+++ b/RELENTLESS/src/ary-lib/drive/set_pid.cpp
@@ -85,7 +85,7 @@ void Drive::set_drive(double target, int speed, bool slew_on, bool toggle_headin
 }
 
 // Set turn PID
-void Drive::set_turn_pid(double target, int speed) {
+void Drive::set_turn(double target, int speed) {
   // Print targets
   if (print_toggle) printf("Turn Started... Target Value: %f\n", target);