diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java
index 0c80265..a99f880 100644
--- a/swervelib/SwerveDrive.java
+++ b/swervelib/SwerveDrive.java
@@ -450,8 +450,8 @@ public class SwerveDrive
 
   /**
    * The primary method for controlling the drivebase. Takes a {@link ChassisSpeeds}, and calculates and commands module
-   * states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Also has
-   * field- and robot-relative modes, which affect how the translation vector is used.
+   * states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Applies
+   * heading correction if enabled and necessary.
    *
    * @param velocity               The chassis speeds to set the robot to achieve.
    * @param isOpenLoop             Whether to use closed-loop velocity control. Set to true to disable closed-loop.
@@ -547,7 +547,7 @@ public class SwerveDrive
   }
 
   /**
-   * Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.
+   * Set the module states (azimuth and velocity) directly.
    *
    * @param desiredStates A list of SwerveModuleStates to send to the modules.
    * @param isOpenLoop    Whether to use closed-loop velocity control. Set to true to disable closed-loop.
diff --git a/swervelib/imu/NavXSwerve.java b/swervelib/imu/NavXSwerve.java
index 790d6b2..8b2b239 100644
--- a/swervelib/imu/NavXSwerve.java
+++ b/swervelib/imu/NavXSwerve.java
@@ -157,7 +157,7 @@ public class NavXSwerve extends SwerveIMU
   @Override
   public Rotation3d getRotation3d()
   {
-    return gyro.getRotation3d().minus(offset);
+    return getRawRotation3d().minus(offset);
   }
 
   /**