From 8bf67b1b33c84a6520b3820bd83e49ffb640f587 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sun, 29 Jan 2023 07:18:48 -0800
Subject: [PATCH] [wpimath] PIDController::Calculate(double, double): update
 setpoint flag (#5021)

Fixes #5020.
---
 .../main/java/edu/wpi/first/math/controller/PIDController.java   | 1 +
 wpimath/src/main/native/cpp/controller/PIDController.cpp         | 1 +
 2 files changed, 2 insertions(+)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
index 6bb77d0de8..1583c8ec65 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
@@ -327,6 +327,7 @@ public class PIDController implements Sendable, AutoCloseable {
    */
   public double calculate(double measurement, double setpoint) {
     m_setpoint = setpoint;
+    m_haveSetpoint = true;
     return calculate(measurement);
   }
 
diff --git a/wpimath/src/main/native/cpp/controller/PIDController.cpp b/wpimath/src/main/native/cpp/controller/PIDController.cpp
index 99db975257..c2e6eb8d8d 100644
--- a/wpimath/src/main/native/cpp/controller/PIDController.cpp
+++ b/wpimath/src/main/native/cpp/controller/PIDController.cpp
@@ -162,6 +162,7 @@ double PIDController::Calculate(double measurement) {
 
 double PIDController::Calculate(double measurement, double setpoint) {
   m_setpoint = setpoint;
+  m_haveSetpoint = true;
   return Calculate(measurement);
 }