diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
index 0b851e3a91..e551c932dc 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
@@ -302,7 +302,7 @@ public class SwerveDriveKinematics
    *
    * @param moduleStates Reference to array of module states. The array will be mutated with the
    *     normalized speeds!
-   * @param currentChassisSpeed The current speed of the robot
+   * @param desiredChassisSpeed The desired speed of the robot
    * @param attainableMaxModuleSpeedMetersPerSecond The absolute max speed that a module can reach
    * @param attainableMaxTranslationalSpeedMetersPerSecond The absolute max speed that your robot
    *     can reach while translating
@@ -311,7 +311,7 @@ public class SwerveDriveKinematics
    */
   public static void desaturateWheelSpeeds(
       SwerveModuleState[] moduleStates,
-      ChassisSpeeds currentChassisSpeed,
+      ChassisSpeeds desiredChassisSpeed,
       double attainableMaxModuleSpeedMetersPerSecond,
       double attainableMaxTranslationalSpeedMetersPerSecond,
       double attainableMaxRotationalVelocityRadiansPerSecond) {
@@ -326,10 +326,10 @@ public class SwerveDriveKinematics
       return;
     }
     double translationalK =
-        Math.hypot(currentChassisSpeed.vxMetersPerSecond, currentChassisSpeed.vyMetersPerSecond)
+        Math.hypot(desiredChassisSpeed.vxMetersPerSecond, desiredChassisSpeed.vyMetersPerSecond)
             / attainableMaxTranslationalSpeedMetersPerSecond;
     double rotationalK =
-        Math.abs(currentChassisSpeed.omegaRadiansPerSecond)
+        Math.abs(desiredChassisSpeed.omegaRadiansPerSecond)
             / attainableMaxRotationalVelocityRadiansPerSecond;
     double k = Math.max(translationalK, rotationalK);
     double scale = Math.min(k * attainableMaxModuleSpeedMetersPerSecond / realMaxSpeed, 1);
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
index 63fe4c90b0..eee14af453 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -271,7 +271,7 @@ class SwerveDriveKinematics
    *
    * @param moduleStates Reference to array of module states. The array will be
    * mutated with the normalized speeds!
-   * @param currentChassisSpeed Current speed of the robot
+   * @param desiredChassisSpeed The desired speed of the robot
    * @param attainableMaxModuleSpeed The absolute max speed a module can reach
    * @param attainableMaxRobotTranslationSpeed The absolute max speed the robot
    * can reach while translating
@@ -280,7 +280,7 @@ class SwerveDriveKinematics
    */
   static void DesaturateWheelSpeeds(
       wpi::array<SwerveModuleState, NumModules>* moduleStates,
-      ChassisSpeeds currentChassisSpeed,
+      ChassisSpeeds desiredChassisSpeed,
       units::meters_per_second_t attainableMaxModuleSpeed,
       units::meters_per_second_t attainableMaxRobotTranslationSpeed,
       units::radians_per_second_t attainableMaxRobotRotationSpeed);
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
index d29fad7c02..db85d999e3 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
@@ -137,7 +137,7 @@ void SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(
 template <size_t NumModules>
 void SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(
     wpi::array<SwerveModuleState, NumModules>* moduleStates,
-    ChassisSpeeds currentChassisSpeed,
+    ChassisSpeeds desiredChassisSpeed,
     units::meters_per_second_t attainableMaxModuleSpeed,
     units::meters_per_second_t attainableMaxRobotTranslationSpeed,
     units::radians_per_second_t attainableMaxRobotRotationSpeed) {
@@ -157,10 +157,10 @@ void SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(
   }
 
   auto translationalK =
-      units::math::hypot(currentChassisSpeed.vx, currentChassisSpeed.vy) /
+      units::math::hypot(desiredChassisSpeed.vx, desiredChassisSpeed.vy) /
       attainableMaxRobotTranslationSpeed;
 
-  auto rotationalK = units::math::abs(currentChassisSpeed.omega) /
+  auto rotationalK = units::math::abs(desiredChassisSpeed.omega) /
                      attainableMaxRobotRotationSpeed;
 
   auto k = units::math::max(translationalK, rotationalK);