diff --git a/wpilibc/Athena/src/PIDController.cpp b/wpilibc/Athena/src/PIDController.cpp
index c8fb63f319..b21cb9be8e 100644
--- a/wpilibc/Athena/src/PIDController.cpp
+++ b/wpilibc/Athena/src/PIDController.cpp
@@ -352,6 +352,7 @@ void PIDController::SetSetpoint(float setpoint) {
 
     // Clear m_buf.
     m_buf = std::queue<double>();
+    m_bufTotal = 0;
   }
 
   if (m_table != nullptr) {
diff --git a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/PIDController.java b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/PIDController.java
index 4e4acd0332..220cd59e1e 100644
--- a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/PIDController.java
@@ -510,6 +510,7 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
     }
 
     m_buf.clear();
+    m_bufTotal = 0;
 
     if (table != null)
       table.putNumber("setpoint", m_setpoint);