diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
index 4800c30a..cc4cfefa 100644
--- a/src/main/java/swervelib/SwerveModule.java
+++ b/src/main/java/swervelib/SwerveModule.java
@@ -208,7 +208,7 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop,
       /* If the error is close to 0.25 rotations, then we're 90 degrees, so movement doesn't help us at all */
       double cosineScalar = Math.cos(Units.degreesToRadians(steerMotorError));
       /* Make sure we don't invert our drive, even though we shouldn't ever target over 90 degrees anyway */
-      if (cosineScalar < 0.0)
+      if (cosineScalar < 0.0 || desiredState.speedMetersPerSecond == 0)
       {
         cosineScalar = 0.0;
       }