diff --git a/wpilibc/src/main/native/cpp/controller/PIDController.cpp b/wpilibc/src/main/native/cpp/controller/PIDController.cpp
index 3abd4ba2b5..a971009f52 100644
--- a/wpilibc/src/main/native/cpp/controller/PIDController.cpp
+++ b/wpilibc/src/main/native/cpp/controller/PIDController.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 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.                                                               */
@@ -26,6 +26,12 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
   frc::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
 }
 
+void PIDController::SetPID(double Kp, double Ki, double Kd) {
+  m_Kp = Kp;
+  m_Ki = Ki;
+  m_Kd = Kd;
+}
+
 void PIDController::SetP(double Kp) { m_Kp = Kp; }
 
 void PIDController::SetI(double Ki) { m_Ki = Ki; }