diff --git a/swervelib/motors/TalonFXSwerve.java b/swervelib/motors/TalonFXSwerve.java
index c292cca..af29e21 100644
--- a/swervelib/motors/TalonFXSwerve.java
+++ b/swervelib/motors/TalonFXSwerve.java
@@ -323,7 +323,7 @@ public class TalonFXSwerve extends SwerveMotor
 
     if (isDriveMotor)
     {
-      motor.setControl(m_velocityVoltageSetter.withVelocity(setpoint));
+      motor.setControl(m_velocityVoltageSetter.withVelocity(setpoint).withFeedForward(feedforward));
     } else
     {
       motor.setControl(m_angleVoltageSetter.withPosition(setpoint));