diff --git a/src/main/java/swervelib/motors/TalonFXSwerve.java b/src/main/java/swervelib/motors/TalonFXSwerve.java
index c292ccac..af29e21a 100644
--- a/src/main/java/swervelib/motors/TalonFXSwerve.java
+++ b/src/main/java/swervelib/motors/TalonFXSwerve.java
@@ -323,7 +323,7 @@ public void setReference(double setpoint, double feedforward, double position)
 
     if (isDriveMotor)
     {
-      motor.setControl(m_velocityVoltageSetter.withVelocity(setpoint));
+      motor.setControl(m_velocityVoltageSetter.withVelocity(setpoint).withFeedForward(feedforward));
     } else
     {
       motor.setControl(m_angleVoltageSetter.withPosition(setpoint));