diff --git a/wpilibc/src/main/native/cpp/PIDController.cpp b/wpilibc/src/main/native/cpp/PIDController.cpp
index 9642a3cbe7..e782ffac08 100644
--- a/wpilibc/src/main/native/cpp/PIDController.cpp
+++ b/wpilibc/src/main/native/cpp/PIDController.cpp
@@ -640,11 +640,14 @@ void PIDController::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
  * @return Error for continuous inputs.
  */
 double PIDController::GetContinuousError(double error) const {
-  if (m_continuous && std::fabs(error) > m_inputRange / 2) {
-    if (error > 0) {
-      return error - m_inputRange;
-    } else {
-      return error + m_inputRange;
+  if (m_continuous) {
+    error = std::fmod(error, m_inputRange);
+    if (std::fabs(error) > m_inputRange / 2) {
+      if (error > 0) {
+        return error - m_inputRange;
+      } else {
+        return error + m_inputRange;
+      }
     }
   }
 
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 3a54a3f989..98b9e48dfe 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
@@ -773,11 +773,14 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
    * @return Error for continuous inputs.
    */
   protected double getContinuousError(double error) {
-    if (m_continuous && Math.abs(error) > m_inputRange / 2) {
-      if (error > 0) {
-        return error - m_inputRange;
-      } else {
-        return error + m_inputRange;
+    if (m_continuous) {
+      error %= m_inputRange;
+      if (Math.abs(error) > m_inputRange / 2) {
+        if (error > 0) {
+          return error - m_inputRange;
+        } else {
+          return error + m_inputRange;
+        }
       }
     }