diff --git a/src/nextftc/hardware/drivetrain-commands/holonomic.md b/src/nextftc/hardware/drivetrain-commands/holonomic.md
index 5eface9..093aa87 100644
--- a/src/nextftc/hardware/drivetrain-commands/holonomic.md
+++ b/src/nextftc/hardware/drivetrain-commands/holonomic.md
@@ -29,20 +29,20 @@ First, we need to create the motors. Let's create variables for them:
 == Kotlin
 
 ```kotlin
-private val frontLeftMotor = MotorEx("front_left").breakMode().reversed()
-private val frontRightMotor = MotorEx("front_right").breakMode()
-private val backLeftMotor = MotorEx("back_left").breakMode().reversed()
-private val backRightMotor = MotorEx("back_right").breakMode()
+private val frontLeftMotor = MotorEx("front_left").brakeMode().reversed()
+private val frontRightMotor = MotorEx("front_right").brakeMode()
+private val backLeftMotor = MotorEx("back_left").brakeMode().reversed()
+private val backRightMotor = MotorEx("back_right").brakeMode()
 ```
 
 == Java
 
 ```java
-private MotorEx frontLeftMotor = new MotorEx("front_left").breakMode().
+private MotorEx frontLeftMotor = new MotorEx("front_left").brakeMode().
 reversed();
-private MotorEx frontRightMotor = new MotorEx("front_right").breakMode();
-private MotorEx backLeftMotor = new MotorEx("back_left").breakMode().reversed();
-private MotorEx backRightMotor = new MotorEx("back_right").breakMode();
+private MotorEx frontRightMotor = new MotorEx("front_right").brakeMode();
+private MotorEx backLeftMotor = new MotorEx("back_left").brakeMode().reversed();
+private MotorEx backRightMotor = new MotorEx("back_right").brakeMode();
 ```
 
 :::
@@ -133,7 +133,7 @@ driverControlled = new MecanumDriverControlled(
     Gamepads.gamepad1().leftStickY().negate(),
     Gamepads.gamepad1().leftStickX(),
     Gamepads.gamepad1().rightStickX(),
-    new HolonomicMode.FieldCentric(imu)
+    new FieldCentric(imu)
 );
 driverControlled.schedule();
 ```