diff --git a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernMotorController.java b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernMotorController.java
index bb2feadab57..e9ee69da6b1 100644
--- a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernMotorController.java
+++ b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernMotorController.java
@@ -314,8 +314,8 @@ private void deusurpDevices()
         // to the USB device actually happen when we issue them.
         if (mode == RunMode.RESET_ENCODERS)
             {
-            // Unclear if this is needed
-            while (this.getMotorTargetPosition(motor) != 0)
+            // Unclear if this is needed, but anecdotes from (e.g.) Dryw seem to indicate that it is
+            while (this.getMotorCurrentPosition(motor) != 0)
                 {
                 waitForNextReadComplete();
                 }