diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java
index a41452b..7d975e6 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java
@@ -136,7 +136,7 @@ public void setModuleStates(SwerveModuleState... states) {
         SwerveDriveKinematics.desaturateWheelSpeeds(states, Swerve.MAX_MODULE_SPEED.get());
 
         for (int i = 0; i < modules.length; i++) {
-            modules[i].setState(filterModuleState(states[i]));
+            modules[i].setTargetState(filterModuleState(states[i]));
         }
     }
 
diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SimModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SimModule.java
index a72a023..842dcff 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SimModule.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SimModule.java
@@ -101,7 +101,7 @@ public SwerveModulePosition getModulePosition() {
         return new SwerveModulePosition(getDistance(), getAngle());
     }
         
-    public void setState(SwerveModuleState state) {
+    public void setTargetState(SwerveModuleState state) {
         targetState = SwerveModuleState.optimize(state, getAngle());
     }
 
diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SwerveModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SwerveModule.java
index d14f4d3..3375917 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SwerveModule.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SwerveModule.java
@@ -11,6 +11,6 @@ public abstract class SwerveModule extends SubsystemBase {
     public abstract SwerveModuleState getState();
     public abstract SwerveModulePosition getModulePosition();
 
-    public abstract void setState(SwerveModuleState state);
+    public abstract void setTargetState(SwerveModuleState state);
 
 }
diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SwerveModuleImpl.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SwerveModuleImpl.java
index 6693d61..fc0e68b 100644
--- a/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SwerveModuleImpl.java
+++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/module/SwerveModuleImpl.java
@@ -98,7 +98,7 @@ public SwerveModulePosition getModulePosition() {
         return new SwerveModulePosition(driveEncoder.getPosition(), getAngle());
     }
 
-    public void setState(SwerveModuleState state) {
+    public void setTargetState(SwerveModuleState state) {
         targetState = SwerveModuleState.optimize(state, getAngle());
     }