diff --git a/wpilibc/src/main/native/cpp/PIDController.cpp b/wpilibc/src/main/native/cpp/PIDController.cpp
index 642923682d..1e38e221b4 100644
--- a/wpilibc/src/main/native/cpp/PIDController.cpp
+++ b/wpilibc/src/main/native/cpp/PIDController.cpp
@@ -367,8 +367,8 @@ double PIDController::Get() const {
 /**
  * Set the PID controller to consider the input to be continuous,
  *
- * Rather then using the max and min in as constraints, it considers them to
- * be the same point and automatically calculates the shortest route to
+ * Rather then using the max and min input range as constraints, it considers
+ * them to be the same point and automatically calculates the shortest route to
  * the setpoint.
  *
  * @param continuous true turns on continuous, false turns off continuous
@@ -652,7 +652,7 @@ void PIDController::InitSendable(SendableBuilder& builder) {
  * @return Error for continuous inputs.
  */
 double PIDController::GetContinuousError(double error) const {
-  if (m_continuous) {
+  if (m_continuous && m_inputRange != 0) {
     error = std::fmod(error, m_inputRange);
     if (std::fabs(error) > m_inputRange / 2) {
       if (error > 0) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
index 61f05abf6f..e9db6c88b2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
@@ -550,12 +550,15 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
 
   /**
    * Set the PID controller to consider the input to be continuous, Rather then using the max and
-   * min in as constraints, it considers them to be the same point and automatically calculates the
-   * shortest route to the setpoint.
+   * min input range as constraints, it considers them to be the same point and automatically
+   * calculates the shortest route to the setpoint.
    *
    * @param continuous Set to true turns on continuous, false turns off continuous
    */
   public void setContinuous(boolean continuous) {
+    if (m_inputRange <= 0) {
+      throw new RuntimeException("No input range set when calling setContinuous().");
+    }
     m_thisMutex.lock();
     try {
       m_continuous = continuous;
@@ -566,8 +569,8 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
 
   /**
    * Set the PID controller to consider the input to be continuous, Rather then using the max and
-   * min in as constraints, it considers them to be the same point and automatically calculates the
-   * shortest route to the setpoint.
+   * min input range as constraints, it considers them to be the same point and automatically
+   * calculates the shortest route to the setpoint.
    */
   public void setContinuous() {
     setContinuous(true);
@@ -891,7 +894,7 @@ public class PIDController extends SendableBase implements PIDInterface, Sendabl
    * @return Error for continuous inputs.
    */
   protected double getContinuousError(double error) {
-    if (m_continuous) {
+    if (m_continuous && m_inputRange > 0) {
       error %= m_inputRange;
       if (Math.abs(error) > m_inputRange / 2) {
         if (error > 0) {