diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
index 0f28d852ec..549de24d9f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
@@ -20,8 +20,6 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
   protected final ProfiledPIDController m_controller;
   protected boolean m_enabled;
 
-  private TrapezoidProfile.State m_goal;
-
   /**
    * Creates a new ProfiledPIDSubsystem.
    *
@@ -45,7 +43,7 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
   @Override
   public void periodic() {
     if (m_enabled) {
-      useOutput(m_controller.calculate(getMeasurement(), m_goal), m_controller.getSetpoint());
+      useOutput(m_controller.calculate(getMeasurement()), m_controller.getSetpoint());
     }
   }
 
@@ -59,7 +57,7 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
    * @param goal The goal state for the subsystem's motion profile.
    */
   public void setGoal(TrapezoidProfile.State goal) {
-    m_goal = goal;
+    m_controller.setGoal(goal);
   }
 
   /**
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
index 032ee4b958..cfdfc6b631 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
@@ -41,7 +41,7 @@ class ProfiledPIDSubsystem : public SubsystemBase {
 
   void Periodic() override {
     if (m_enabled) {
-      UseOutput(m_controller.Calculate(GetMeasurement(), m_goal),
+      UseOutput(m_controller.Calculate(GetMeasurement()),
                 m_controller.GetSetpoint());
     }
   }
@@ -51,14 +51,14 @@ class ProfiledPIDSubsystem : public SubsystemBase {
    *
    * @param goal The goal state for the subsystem's motion profile.
    */
-  void SetGoal(State goal) { m_goal = goal; }
+  void SetGoal(State goal) { m_controller.SetGoal(goal); }
 
   /**
    * Sets the goal state for the subsystem.  Goal velocity assumed to be zero.
    *
    * @param goal The goal position for the subsystem's motion profile.
    */
-  void SetGoal(Distance_t goal) { m_goal = State{goal, Velocity_t(0)}; }
+  void SetGoal(Distance_t goal) { SetGoal(State{goal, Velocity_t(0)}); }
 
   /**
    * Enables the PID control. Resets the controller.
@@ -110,8 +110,5 @@ class ProfiledPIDSubsystem : public SubsystemBase {
    * feedforward
    */
   virtual void UseOutput(double output, State setpoint) = 0;
-
- private:
-  State m_goal;
 };
 }  // namespace frc2