diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java
index 80ed1b8..d6acf63 100644
--- a/swervelib/SwerveDrive.java
+++ b/swervelib/SwerveDrive.java
@@ -27,8 +27,6 @@ import swervelib.parser.SwerveDriveConfiguration;
 public class SwerveDrive
 {
 
-  //
-  // Swerve base kinematics object
   /**
    * Swerve Kinematics object utilizing second order kinematics.
    */
@@ -156,7 +154,7 @@ public class SwerveDrive
     // Sets states
     for (SwerveModule module : swerveModules)
     {
-      module.setDesiredState(desiredStates[module.moduleNumber], false); // Todo: Send isOpenLoop
+      module.setDesiredState(desiredStates[module.moduleNumber], isOpenLoop);
       SmartDashboard.putNumber("Module " + module.moduleNumber + " Speed Setpoint: ",
                                desiredStates[module.moduleNumber].speedMetersPerSecond);
       SmartDashboard.putNumber("Module " + module.moduleNumber + " Angle Setpoint: ",