diff --git a/src/main/cpp/cowlib/SwerveModule.cpp b/src/main/cpp/cowlib/SwerveModule.cpp
index 38b7d21..a6eac1e 100644
--- a/src/main/cpp/cowlib/SwerveModule.cpp
+++ b/src/main/cpp/cowlib/SwerveModule.cpp
@@ -12,11 +12,16 @@ using namespace SwerveConstants;
 using MotorType = rev::CANSparkMax::MotorType;
 
 SwerveModule::SwerveModule(int driveMotorId, int steerMotorId, int encoderId,
-                           bool driveInverted)
+                           bool driveInverted, double maxVelocity,
+                           double maxVoltage)
     : driveMotor{driveMotorId, rev::CANSparkMax::MotorType::kBrushless},
       steerMotor{steerMotorId, rev::CANSparkMax::MotorType::kBrushless},
-      encoder{encoderId}, pid{SwervePID::p, SwervePID::i, SwervePID::d} {
+      encoder{encoderId}, pid{SwervePID::p, SwervePID::i, SwervePID::d},
+      maxVelocity{maxVelocity}, maxVoltage{maxVoltage} {
   this->pid.EnableContinuousInput(-180, 180);
 
   this->driveMotor.SetInverted(driveInverted);
+
+  this->driveMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
+  this->steerMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
 }
diff --git a/src/main/include/Constants.h b/src/main/include/Constants.h
index 542ea4e..d0885fe 100644
--- a/src/main/include/Constants.h
+++ b/src/main/include/Constants.h
@@ -22,6 +22,8 @@ inline constexpr int driveControllerPort = 0;
 
 namespace SwerveConstants {
 
+inline constexpr unsigned int currentLimit = 40;
+
 namespace SwervePID {
 
 inline constexpr double p = 0.12;
diff --git a/src/main/include/cowlib/SwerveModule.h b/src/main/include/cowlib/SwerveModule.h
index 8bdf28d..377a022 100644
--- a/src/main/include/cowlib/SwerveModule.h
+++ b/src/main/include/cowlib/SwerveModule.h
@@ -14,8 +14,10 @@ private:
   rev::CANSparkMax steerMotor;
   ctre::phoenix6::hardware::CANcoder encoder;
   frc::PIDController pid;
+  double maxVelocity;
+  double maxVoltage;
 
 public:
   SwerveModule(int driveMotorId, int steerMotorId, int encoderId,
-               bool driveInverted);
+               bool driveInverted, double maxVelocity, double maxVoltage);
 };