diff --git a/pathplannerlib-python/pathplannerlib/util/swerve.py b/pathplannerlib-python/pathplannerlib/util/swerve.py
index 9a77fe05..101eb466 100644
--- a/pathplannerlib-python/pathplannerlib/util/swerve.py
+++ b/pathplannerlib-python/pathplannerlib/util/swerve.py
@@ -74,10 +74,12 @@ def generateSetpoint(self, prev_setpoint: SwerveSetpoint, desired_state_robot_re
         else:
             input_voltage = max(input_voltage, self._brownoutVoltage)
 
+        maxSpeed = self._config.moduleConfig.maxDriveVelocityMPS * min(1, input_voltage / 12)
+
         desired_module_states = self._config.toSwerveModuleStates(desired_state_robot_relative)
         # Make sure desired_state respects velocity limits.
         SwerveDrive4Kinematics.desaturateWheelSpeeds(desired_module_states,
-                                                     self._config.moduleConfig.maxDriveVelocityMPS)
+                                                     maxSpeed)
         desired_state_robot_relative = self._config.toChassisSpeeds(desired_module_states)
 
         # Special case: desired_state is a complete stop. In this case, module angle is arbitrary, so