diff --git a/src/main/java/swervelib/motors/TalonFXSwerve.java b/src/main/java/swervelib/motors/TalonFXSwerve.java
index 1a64cb90..2f515ff3 100644
--- a/src/main/java/swervelib/motors/TalonFXSwerve.java
+++ b/src/main/java/swervelib/motors/TalonFXSwerve.java
@@ -240,6 +240,13 @@ public void configureCANStatusFrames(
   @Override
   public void configurePIDF(PIDFConfig config)
   {
+    if(!isDriveMotor)
+    {
+      config.p *= 360;
+      config.i *= 360;
+      config.d *= 360;
+    }
+
     TalonFXConfigurator cfg = motor.getConfigurator();
     cfg.refresh(configuration.Slot0);
     cfg.apply(