diff --git a/Writerside/topics/pplib-Build-an-Auto.md b/Writerside/topics/pplib-Build-an-Auto.md
index 196ab8ea..5f796723 100644
--- a/Writerside/topics/pplib-Build-an-Auto.md
+++ b/Writerside/topics/pplib-Build-an-Auto.md
@@ -109,7 +109,7 @@ SwerveSubsystem::SwerveSubsystem(){
         [this](frc::Pose2d pose){ resetPose(pose); }, // Method to reset odometry (will be called if your auto has a starting pose)
         [this](){ return getRobotRelativeSpeeds(); }, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
         [this](auto speeds, auto feedforwards){ driveRobotRelative(speeds); }, // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
-        PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic drive trains
+        std::make_shared<PPHolonomicDriveController>( // PPHolonomicController is the built in path following controller for holonomic drive trains
             PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
             PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
         ),