diff --git a/wpilibc/src/main/native/include/frc/controller/PIDController.h b/wpilibc/src/main/native/include/frc/controller/PIDController.h
index 66a36fb3fc..642cc8878e 100644
--- a/wpilibc/src/main/native/include/frc/controller/PIDController.h
+++ b/wpilibc/src/main/native/include/frc/controller/PIDController.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -117,7 +117,7 @@ class PIDController : public frc::Sendable,
   double GetSetpoint() const;
 
   /**
-   * Returns true if the error is within the tolerance of the error.
+   * Returns true if the error is within the tolerance of the setpoint.
    *
    * This will return false until at least one input value has been computed.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
index eea0644b3f..68c8dfbc61 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
@@ -62,7 +62,7 @@ public class PIDController implements Sendable, AutoCloseable {
   // The sum of the errors for use in the integral calc
   private double m_totalError;
 
-  // The percentage or absolute error that is considered at setpoint.
+  // The error that is considered at setpoint.
   private double m_positionTolerance = 0.05;
   private double m_velocityTolerance = Double.POSITIVE_INFINITY;
 
@@ -213,8 +213,7 @@ public class PIDController implements Sendable, AutoCloseable {
   }
 
   /**
-   * Returns true if the error is within the percentage of the total input range, determined by
-   * SetTolerance. This asssumes that the maximum and minimum input were set using SetInput.
+   * Returns true if the error is within the tolerance of the setpoint.
    *
    * <p>This will return false until at least one input value has been computed.
    *