diff --git a/src/main/cpp/subsystems/MAXSwerveModule.cpp b/src/main/cpp/subsystems/MAXSwerveModule.cpp
index 0e1b25f..bef5b9d 100644
--- a/src/main/cpp/subsystems/MAXSwerveModule.cpp
+++ b/src/main/cpp/subsystems/MAXSwerveModule.cpp
@@ -48,6 +48,10 @@ MAXSwerveModule::MAXSwerveModule(const int drivingCANId, const int turningCANId,
       kTurningEncoderPositionPIDMinInput.value());
   m_turningPIDController.SetPositionPIDWrappingMaxInput(
       kTurningEncoderPositionPIDMaxInput.value());
+        
+  // Set the PID Controller to use the duty cycle encoder on the swerve
+  // module instead of the built in NEO550 encoder.
+  m_turningPIDController.SetFeedbackDevice(m_turningAbsoluteEncoder);
 
   // Set the PID gains for the driving motor. Note these are example gains, and
   // you may need to tune them for your own robot!