diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java
index 9ee2352..0244c57 100644
--- a/swervelib/SwerveDrive.java
+++ b/swervelib/SwerveDrive.java
@@ -542,6 +542,9 @@ public class SwerveDrive
                                                   maxSpeedMPS,
                                                   attainableMaxTranslationalSpeedMetersPerSecond,
                                                   attainableMaxRotationalVelocityRadiansPerSecond);
+    } else
+    {
+      SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, maxSpeedMPS);
     }
 
     // Sets states