diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
index c15360d29c..32dbb0a790 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
@@ -18,8 +18,6 @@ public abstract class PIDSubsystem extends SubsystemBase {
   protected final PIDController m_controller;
   protected boolean m_enabled;
 
-  private double m_setpoint;
-
   /**
    * Creates a new PIDSubsystem.
    *
@@ -27,8 +25,8 @@ public abstract class PIDSubsystem extends SubsystemBase {
    * @param initialPosition the initial setpoint of the subsystem
    */
   public PIDSubsystem(PIDController controller, double initialPosition) {
-    setSetpoint(initialPosition);
     m_controller = requireNonNullParam(controller, "controller", "PIDSubsystem");
+    setSetpoint(initialPosition);
     addChild("PID Controller", m_controller);
   }
 
@@ -44,7 +42,7 @@ public abstract class PIDSubsystem extends SubsystemBase {
   @Override
   public void periodic() {
     if (m_enabled) {
-      useOutput(m_controller.calculate(getMeasurement(), m_setpoint), m_setpoint);
+      useOutput(m_controller.calculate(getMeasurement()), getSetpoint());
     }
   }
 
@@ -58,7 +56,7 @@ public abstract class PIDSubsystem extends SubsystemBase {
    * @param setpoint the setpoint for the subsystem
    */
   public void setSetpoint(double setpoint) {
-    m_setpoint = setpoint;
+    m_controller.setSetpoint(setpoint);
   }
 
   /**
@@ -67,7 +65,7 @@ public abstract class PIDSubsystem extends SubsystemBase {
    * @return The current setpoint
    */
   public double getSetpoint() {
-    return m_setpoint;
+    return m_controller.getSetpoint();
   }
 
   /**
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
index 7c820aef96..8db032a720 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
@@ -16,16 +16,16 @@ PIDSubsystem::PIDSubsystem(PIDController controller, double initialPosition)
 
 void PIDSubsystem::Periodic() {
   if (m_enabled) {
-    UseOutput(m_controller.Calculate(GetMeasurement(), m_setpoint), m_setpoint);
+    UseOutput(m_controller.Calculate(GetMeasurement()), GetSetpoint());
   }
 }
 
 void PIDSubsystem::SetSetpoint(double setpoint) {
-  m_setpoint = setpoint;
+  m_controller.SetSetpoint(setpoint);
 }
 
 double PIDSubsystem::GetSetpoint() const {
-  return m_setpoint;
+  return m_controller.GetSetpoint();
 }
 
 void PIDSubsystem::Enable() {
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
index 37571adc2f..426e3ecc63 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
@@ -85,8 +85,5 @@ class PIDSubsystem : public SubsystemBase {
    * @param setpoint the setpoint of the PIDController (for feedforward)
    */
   virtual void UseOutput(double output, double setpoint) = 0;
-
- private:
-  double m_setpoint{0};
 };
 }  // namespace frc2