diff --git a/wpilibc/src/main/native/cpp/frc2/command/PIDCommand.cpp b/wpilibc/src/main/native/cpp/frc2/command/PIDCommand.cpp
index 03be847d6f..4391e606d8 100644
--- a/wpilibc/src/main/native/cpp/frc2/command/PIDCommand.cpp
+++ b/wpilibc/src/main/native/cpp/frc2/command/PIDCommand.cpp
@@ -31,10 +31,10 @@ PIDCommand::PIDCommand(PIDController controller,
 void PIDCommand::Initialize() { m_controller.Reset(); }
 
 void PIDCommand::Execute() {
-  m_useOutput(m_controller.Calculate(m_measurement(), m_setpoint()));
+  UseOutput(m_controller.Calculate(GetMeasurement(), m_setpoint()));
 }
 
-void PIDCommand::End(bool interrupted) { m_useOutput(0); }
+void PIDCommand::End(bool interrupted) { UseOutput(0); }
 
 void PIDCommand::SetOutput(std::function<void(double)> useOutput) {
   m_useOutput = useOutput;
@@ -52,4 +52,8 @@ void PIDCommand::SetSetpointRelative(double relativeSetpoint) {
   SetSetpoint(m_setpoint() + relativeSetpoint);
 }
 
+double PIDCommand::GetMeasurement() { return m_measurement(); }
+
+void PIDCommand::UseOutput(double output) { m_useOutput(output); }
+
 PIDController& PIDCommand::getController() { return m_controller; }
diff --git a/wpilibc/src/main/native/include/frc2/command/PIDCommand.h b/wpilibc/src/main/native/include/frc2/command/PIDCommand.h
index a54a485d73..6e553ff39e 100644
--- a/wpilibc/src/main/native/include/frc2/command/PIDCommand.h
+++ b/wpilibc/src/main/native/include/frc2/command/PIDCommand.h
@@ -92,6 +92,22 @@ class PIDCommand : public CommandHelper<CommandBase, PIDCommand> {
    */
   void SetSetpointRelative(double relativeSetpoint);
 
+  /**
+   * Gets the measurement of the process variable. Wraps the passed-in function
+   * for readability.
+   *
+   * @return The measurement of the process variable
+   */
+  virtual double GetMeasurement();
+
+  /**
+   * Gets the measurement of the process variable. Wraps the passed-in function
+   * for readability.
+   *
+   * @return The measurement of the process variable
+   */
+  virtual void UseOutput(double output);
+
   /**
    * Returns the PIDController used by the command.
    *