diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
index b77c259e92..5b3bd91d9a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
@@ -8,6 +8,7 @@ import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.util.Units;
 
 /**
  * This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain
@@ -44,6 +45,7 @@ public class HolonomicDriveController {
     m_xController = xController;
     m_yController = yController;
     m_thetaController = thetaController;
+    m_thetaController.enableContinuousInput(0, Units.degreesToRadians(360.0));
   }
 
   /**
diff --git a/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp b/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
index 6a09c57fa5..de0414778e 100644
--- a/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
+++ b/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
@@ -15,7 +15,9 @@ HolonomicDriveController::HolonomicDriveController(
     ProfiledPIDController<units::radian> thetaController)
     : m_xController(std::move(xController)),
       m_yController(std::move(yController)),
-      m_thetaController(std::move(thetaController)) {}
+      m_thetaController(std::move(thetaController)) {
+  m_thetaController.EnableContinuousInput(0_deg, 360.0_deg);
+}
 
 bool HolonomicDriveController::AtReference() const {
   const auto& eTranslate = m_poseError.Translation();