diff --git a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyLegacyMotorController.java b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyLegacyMotorController.java
index 4859979b197..aeb070ef4d9 100644
--- a/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyLegacyMotorController.java
+++ b/SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyLegacyMotorController.java
@@ -400,7 +400,7 @@ private boolean isArmed()
         if (mode == RunMode.RESET_ENCODERS)
             {
             // Unclear if this is needed
-            while (this.getMotorTargetPosition(motor) != 0)
+            while (this.getMotorCurrentPosition(motor) != 0)
                 {
                 if (!this.isArmed()) break;
                 Thread.yield();