diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
index 8ff1123e0d..7b91f3d96d 100644
--- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp
+++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp
@@ -105,6 +105,8 @@ float CANTalon::Get()
  */
 void CANTalon::Set(float value, uint8_t syncGroup)
 {
+  /* feed safety helper since caller just updated our output */
+  m_safetyHelper->Feed();
   if(m_controlEnabled) {
     m_setPoint = value;
     CTR_Code status;
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
index f837746b8e..511ee8f643 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -133,6 +133,8 @@ public class CANTalon implements MotorSafety, PIDOutput, SpeedController {
    * @param outputValue The setpoint value, as described above.
    */
   public void set(double outputValue) {
+    /* feed safety helper since caller just updated our output */
+    m_safetyHelper.feed();
     if (m_controlEnabled) {
       m_setPoint = outputValue;
       switch (m_controlMode) {