diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
index f9337c6052..9badc34336 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -61,6 +61,15 @@ public abstract class PIDSubsystem extends SubsystemBase {
     m_setpoint = setpoint;
   }
 
+  /**
+   * Returns the current setpoint of the subsystem.
+   *
+   * @return The current setpoint
+   */
+  public double getSetpoint() {
+    return m_setpoint;
+  }
+
   /**
    * Uses the output from the PIDController.
    *
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
index 14d965ce76..39eec29c58 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -22,6 +22,8 @@ void PIDSubsystem::Periodic() {
 
 void PIDSubsystem::SetSetpoint(double setpoint) { m_setpoint = setpoint; }
 
+double PIDSubsystem::GetSetpoint() const { return m_setpoint; }
+
 void PIDSubsystem::Enable() {
   m_controller.Reset();
   m_enabled = true;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
index 3a6df88c1e..608fe563f7 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -37,6 +37,13 @@ class PIDSubsystem : public SubsystemBase {
    */
   void SetSetpoint(double setpoint);
 
+  /**
+   * Gets the setpoint for the subsystem.
+   *
+   * @return the setpoint for the subsystem
+   */
+  double GetSetpoint() const;
+
   /**
    * Enables the PID control.  Resets the controller.
    */