diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
index eca53c9..1b187bb 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
@@ -96,7 +96,7 @@ public class OI
 			TurnDriveTrain90.whenPressed(new DriveRelativeTurnPID(90, MPSoftwareTurnType.TANK));
 
 			JoystickButton TurnTo0NavX = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_JOYSTICK_BUTTON);
-			TurnTo0NavX.whenPressed(new DriveRelativeTurnPID(0, MPSoftwareTurnType.TANK));
+			TurnTo0NavX.whenPressed(new DriveAbsoluteTurnPID(0, MPSoftwareTurnType.TANK));
 
 			SmartDashboard.putData("switch to manuel", new SetManual());
 			SmartDashboard.putData("run arm test", new ArmTest());
diff --git a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/DriveAbsoluteTurnPID.java b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/DriveAbsoluteTurnPID.java
index 5498c45..4cbd68f 100644
--- a/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/DriveAbsoluteTurnPID.java
+++ b/2019robot/src/main/java/org/usfirst/frc4388/robot/commands/DriveAbsoluteTurnPID.java
@@ -31,7 +31,7 @@ public class DriveAbsoluteTurnPID extends Command {
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    Robot.drive.setRelativeTurnPID(absoluteTurnAngleDeg, 0.3, 0.1, turnType);
+    Robot.drive.setAbsoluteTurnPID(absoluteTurnAngleDeg, 0.3, 0.1, turnType);
   }
 
   // Called repeatedly when this Command is scheduled to run