diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
index cd19aeb7d8..be32fbbb71 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2020 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.                                                               */
@@ -27,7 +27,7 @@ void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
  * can use it to reset any subsystem information you want to clear when the
  * robot is disabled.
  */
-void Robot::DisabledInit() {}
+void Robot::DisabledInit() { m_container.DisablePIDSubsystems(); }
 
 void Robot::DisabledPeriodic() {}
 
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
index ba7bbf5777..d3a01338e7 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
@@ -32,12 +32,25 @@ void RobotContainer::ConfigureButtonBindings() {
 
   // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
   frc2::JoystickButton(&m_driverController, 1)
-      .WhenPressed([this] { m_arm.SetGoal(2_rad); }, {&m_arm});
+      .WhenPressed(
+          [this] {
+            m_arm.SetGoal(2_rad);
+            m_arm.Enable();
+          },
+          {&m_arm});
 
   // Move the arm to neutral position when the 'B' button is pressed.
-  frc2::JoystickButton(&m_driverController, 1)
-      .WhenPressed([this] { m_arm.SetGoal(ArmConstants::kArmOffset); },
-                   {&m_arm});
+  frc2::JoystickButton(&m_driverController, 2)
+      .WhenPressed(
+          [this] {
+            m_arm.SetGoal(ArmConstants::kArmOffset);
+            m_arm.Enable();
+          },
+          {&m_arm});
+
+  // Disable the arm controller when Y is pressed.
+  frc2::JoystickButton(&m_driverController, 4)
+      .WhenPressed([this] { m_arm.Disable(); }, {&m_arm});
 
   // While holding the shoulder button, drive at half speed
   frc2::JoystickButton(&m_driverController, 6)
@@ -45,6 +58,8 @@ void RobotContainer::ConfigureButtonBindings() {
       .WhenReleased([this] { m_drive.SetMaxOutput(1); });
 }
 
+void RobotContainer::DisablePIDSubsystems() { m_arm.Disable(); }
+
 frc2::Command* RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
   return new frc2::InstantCommand([] {});
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h
index fa07359c84..c238cb6fb8 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.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.                                                               */
@@ -35,6 +35,12 @@ class RobotContainer {
  public:
   RobotContainer();
 
+  /**
+   * Disables all ProfiledPIDSubsystem and PIDSubsystem instances.
+   * This should be called on robot disable to prevent integral windup.
+   */
+  void DisablePIDSubsystems();
+
   frc2::Command* GetAutonomousCommand();
 
  private:
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
index a171fc6c99..8c9cef6eb9 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2020 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.                                                               */
@@ -54,6 +54,7 @@ public class Robot extends TimedRobot {
    */
   @Override
   public void disabledInit() {
+    m_robotContainer.disablePIDSubsystems();
   }
 
   @Override
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
index 5558f25ec8..afe7317968 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.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.                                                               */
@@ -62,11 +62,21 @@ public class RobotContainer {
 
     // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
     new JoystickButton(m_driverController, Button.kA.value)
-        .whenPressed(() -> m_robotArm.setGoal(2), m_robotArm);
+        .whenPressed(() -> {
+          m_robotArm.setGoal(2);
+          m_robotArm.enable();
+        }, m_robotArm);
 
     // Move the arm to neutral position when the 'B' button is pressed.
     new JoystickButton(m_driverController, Button.kB.value)
-        .whenPressed(() -> m_robotArm.setGoal(Constants.ArmConstants.kArmOffsetRads), m_robotArm);
+        .whenPressed(() -> {
+          m_robotArm.setGoal(Constants.ArmConstants.kArmOffsetRads);
+          m_robotArm.enable();
+        }, m_robotArm);
+
+    // Disable the arm controller when Y is pressed.
+    new JoystickButton(m_driverController, Button.kY.value)
+        .whenPressed(m_robotArm::disable);
 
     // Drive at half speed when the bumper is held
     new JoystickButton(m_driverController, Button.kBumperRight.value)
@@ -74,6 +84,13 @@ public class RobotContainer {
         .whenReleased(() -> m_robotDrive.setMaxOutput(1));
   }
 
+  /**
+   * Disables all ProfiledPIDSubsystem and PIDSubsystem instances. This
+   * should be called on robot disable to prevent integral windup.
+   */
+  public void disablePIDSubsystems() {
+    m_robotArm.disable();
+  }
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.