From 8b2e656bde043429f585bb220abab8399382c01c Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 8 Nov 2017 21:28:09 -0800
Subject: [PATCH] Fixed Java velocity PID not calculating result when P = 0
 (#717)

---
 .../src/main/java/edu/wpi/first/wpilibj/PIDController.java  | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

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 27d7536e1c..4806bf01e3 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
@@ -271,10 +271,10 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
             } else {
               m_totalError = m_maximumOutput / m_P;
             }
-
-            m_result = m_P * m_totalError + m_D * m_error
-                + calculateFeedForward();
           }
+
+          m_result = m_P * m_totalError + m_D * m_error
+              + calculateFeedForward();
         } else {
           if (m_I != 0) {
             double potentialIGain = (m_totalError + m_error) * m_I;