diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
index 044b332be0..0bd71d4b18 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
@@ -246,7 +246,7 @@ public class PIDController implements Sendable, AutoCloseable {
   }
 
   /**
-   * Returns the error tolerance of this controller.
+   * Returns the error tolerance of this controller. Defaults to 0.05.
    *
    * @return the error tolerance of the controller.
    */
@@ -255,7 +255,7 @@ public class PIDController implements Sendable, AutoCloseable {
   }
 
   /**
-   * Returns the error derivative tolerance of this controller.
+   * Returns the error derivative tolerance of this controller. Defaults to ∞.
    *
    * @return the error derivative tolerance of the controller.
    */
@@ -301,7 +301,8 @@ public class PIDController implements Sendable, AutoCloseable {
   }
 
   /**
-   * Returns true if the error is within the tolerance of the setpoint.
+   * Returns true if the error is within the tolerance of the setpoint. The error tolerance defaults
+   * to 0.05, and the error derivative tolerance defaults to ∞.
    *
    * <p>This will return false until at least one input value has been computed.
    *
diff --git a/wpimath/src/main/native/include/frc/controller/PIDController.h b/wpimath/src/main/native/include/frc/controller/PIDController.h
index fde4081d08..7ba9a51541 100644
--- a/wpimath/src/main/native/include/frc/controller/PIDController.h
+++ b/wpimath/src/main/native/include/frc/controller/PIDController.h
@@ -178,14 +178,14 @@ class WPILIB_DLLEXPORT PIDController
   constexpr units::second_t GetPeriod() const { return m_period; }
 
   /**
-   * Gets the error tolerance of this controller.
+   * Gets the error tolerance of this controller. Defaults to 0.05.
    *
    * @return The error tolerance of the controller.
    */
   constexpr double GetErrorTolerance() const { return m_errorTolerance; }
 
   /**
-   * Gets the error derivative tolerance of this controller.
+   * Gets the error derivative tolerance of this controller. Defaults to ∞.
    *
    * @return The error derivative tolerance of the controller.
    */
@@ -252,6 +252,8 @@ class WPILIB_DLLEXPORT PIDController
 
   /**
    * Returns true if the error is within the tolerance of the setpoint.
+   * The error tolerance defauls to 0.05, and the error derivative tolerance
+   * defaults to ∞.
    *
    * This will return false until at least one input value has been computed.
    */