 Finally, the only way to act freely in the full sense of exercising autonomy is therefore to act on formal principles or categorical imperatives, which is also to act morally. Kant does not mean that acting autonomously requires that we take no account of our desires, which would be impossible (5:25, 61). Rather, he holds that we typically formulate maxims with a view to satisfying our desires, but that “as soon as we draw up maxims of the will for ourselves” we become immediately conscious of the moral law (5:29). This immediate consciousness of the moral law takes the following form: