diff --git a/swervelib/math/SwerveMath.java b/swervelib/math/SwerveMath.java
index 7bdc16b..79533df 100644
--- a/swervelib/math/SwerveMath.java
+++ b/swervelib/math/SwerveMath.java
@@ -7,9 +7,9 @@ import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import swervelib.SwerveController;
+import swervelib.SwerveModule;
 import swervelib.parser.SwerveDriveConfiguration;
 import swervelib.parser.SwerveModuleConfiguration;
-import swervelib.parser.SwerveParser;
 
 /**
  * Mathematical functions which pertain to swerve drive.
@@ -127,8 +127,7 @@ public class SwerveMath
 
   /**
    * Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
-   * NetworkTables and is passed the direction in question.<br /><b>Requires modules to be named: <br
-   * />"frontright.json", "frontleft.json", "backright.json", "backleft.json"</b>
+   * NetworkTables and is passed the direction in question.
    *
    * @param angle                  The direction in which to calculate max acceleration, as a Rotation2d. Note that this
    *                               is robot-relative.
@@ -161,25 +160,24 @@ public class SwerveMath
     double        angDeg = angle.getDegrees();
     if (angDeg <= 45 && angDeg >= -45)
     {
-      SwerveModuleConfiguration conf = SwerveParser.getModuleConfigurationByName("frontleft", config).configuration;
+      SwerveModuleConfiguration conf = getSwerveModule(config.modules, true, true);
       projectedWheelbaseEdge = new Translation2d(conf.moduleLocation.getX(),
                                                  conf.moduleLocation.getX() * angle.getTan());
     } else if (135 >= angDeg && angDeg > 45)
     {
-      SwerveModuleConfiguration conf = SwerveParser.getModuleConfigurationByName("frontleft", config).configuration;
-
+      SwerveModuleConfiguration conf = getSwerveModule(config.modules, true, true);
       projectedWheelbaseEdge = new Translation2d(
           conf.moduleLocation.getY() / angle.getTan(),
           conf.moduleLocation.getY());
     } else if (-135 <= angDeg && angDeg < -45)
     {
-      SwerveModuleConfiguration conf = SwerveParser.getModuleConfigurationByName("frontright", config).configuration;
+      SwerveModuleConfiguration conf = getSwerveModule(config.modules, true, false);
       projectedWheelbaseEdge = new Translation2d(
           conf.moduleLocation.getY() / angle.getTan(),
           conf.moduleLocation.getY());
     } else
     {
-      SwerveModuleConfiguration conf = SwerveParser.getModuleConfigurationByName("backleft", config).configuration;
+      SwerveModuleConfiguration conf = getSwerveModule(config.modules, false, true);
       projectedWheelbaseEdge = new Translation2d(
           conf.moduleLocation.getX(),
           conf.moduleLocation.getX() * angle.getTan());
@@ -195,8 +193,7 @@ public class SwerveMath
   /**
    * Limits a commanded velocity to prevent exceeding the maximum acceleration given by
    * {@link SwerveMath#calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)}.  Note that
-   * this takes and returns field-relative velocities. <br /><b>Requires modules to be named:<br /> "frontright.json",
-   * "frontleft.json", "backright.json", "backleft.json"</b>
+   * this takes and returns field-relative velocities.
    *
    * @param commandedVelocity      The desired velocity
    * @param fieldVelocity          The velocity of the robot within a field relative state.
@@ -245,4 +242,28 @@ public class SwerveMath
       return commandedVelocity;
     }
   }
+
+  /**
+   * Get the fruthest module from center based on the module locations.
+   *
+   * @param modules Swerve module list.
+   * @param front   True = furthest front, False = furthest back.
+   * @param left    True = furthest left, False = furthest right.
+   * @return Module location which is the furthest from center and abides by parameters.
+   */
+  public static SwerveModuleConfiguration getSwerveModule(SwerveModule[] modules, boolean front, boolean left)
+  {
+    Translation2d             target        = modules[0].configuration.moduleLocation, current, temp;
+    SwerveModuleConfiguration configuration = modules[0].configuration;
+    for (SwerveModule module : modules)
+    {
+      current = module.configuration.moduleLocation;
+      temp = front ? (target.getY() >= current.getY() ? current : target)
+                   : (target.getY() <= current.getY() ? current : target);
+      target = left ? (target.getX() >= temp.getX() ? temp : target)
+                    : (target.getX() <= temp.getX() ? temp : target);
+      configuration = current.equals(target) ? module.configuration : configuration;
+    }
+    return configuration;
+  }
 }