diff --git a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
index d075f10346..24c586a39a 100644
--- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
@@ -17,6 +17,10 @@
  */
 class Robot : public frc::TimedRobot {
  public:
+  void RobotInit() override {
+    m_pidController.SetSetpoint(kSetPoints[m_index]);
+  }
+
   void TeleopPeriodic() override {
     // When the button is pressed once, the selected elevator setpoint is
     // incremented.
@@ -24,10 +28,10 @@ class Robot : public frc::TimedRobot {
     if (currentButtonValue && !m_previousButtonValue) {
       // Index of the elevator setpoint wraps around
       m_index = (m_index + 1) % (sizeof(kSetPoints) / 8);
+      m_pidController.SetSetpoint(kSetPoints[m_index]);
     }
     m_previousButtonValue = currentButtonValue;
 
-    m_pidController.SetSetpoint(kSetPoints[m_index]);
     double output =
         m_pidController.Calculate(m_potentiometer.GetAverageVoltage());
     m_elevatorMotor.Set(output);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
index 1a7f0825b4..e0c3bb004f 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
@@ -46,6 +46,7 @@ public class Robot extends TimedRobot {
     m_joystick = new Joystick(kJoystickChannel);
 
     m_pidController = new PIDController(kP, kI, kD);
+    m_pidController.setSetpoint(kSetPoints[m_index]);
   }
 
   @Override
@@ -60,9 +61,8 @@ public class Robot extends TimedRobot {
     if (currentButtonValue && !m_previousButtonValue) {
       // index of the elevator setpoint wraps around.
       m_index = (m_index + 1) % kSetPoints.length;
+      m_pidController.setSetpoint(kSetPoints[m_index]);
     }
     m_previousButtonValue = currentButtonValue;
-
-    m_pidController.setSetpoint(kSetPoints[m_index]);
   }
 }