diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
index ecd33719cc..bf161fe738 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
@@ -44,10 +44,10 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
   /**
    * Uses the output from the ProfiledPIDController.
    *
-   * @param output the output of the ProfiledPIDController
-   * @param goal   the goal state of the ProfiledPIDController, for feedforward
+   * @param output   the output of the ProfiledPIDController
+   * @param setpoint the setpoint state of the ProfiledPIDController, for feedforward
    */
-  public abstract void useOutput(double output, State goal);
+  public abstract void useOutput(double output, State setpoint);
 
   /**
    * Returns the goal used by the ProfiledPIDController.
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
index 5b2aaf7e15..02497dee01 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
@@ -36,8 +36,10 @@ class ProfiledPIDSubsystem : public SubsystemBase {
    * Uses the output from the ProfiledPIDController.
    *
    * @param output the output of the ProfiledPIDController
+   * @param setpoint the setpoint state of the ProfiledPIDController, for
+   * feedforward
    */
-  virtual void UseOutput(double output, State state) = 0;
+  virtual void UseOutput(double output, State setpoint) = 0;
 
   /**
    * Returns the goal used by the ProfiledPIDController.