diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
index 87aac29c09..dd418d2a75 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -64,16 +64,20 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
       // Pass the config
       config);
 
+  frc::ProfiledPIDController<units::radians> thetaController{
+      AutoConstants::kPThetaController, 0, 0,
+      AutoConstants::kThetaControllerConstraints};
+
+  thetaController.EnableContinuousInput(units::radian_t(-wpi::math::pi),
+                                        units::radian_t(wpi::math::pi));
+
   frc2::SwerveControllerCommand<4> swerveControllerCommand(
       exampleTrajectory, [this]() { return m_drive.GetPose(); },
 
       m_drive.kDriveKinematics,
 
       frc2::PIDController(AutoConstants::kPXController, 0, 0),
-      frc2::PIDController(AutoConstants::kPYController, 0, 0),
-      frc::ProfiledPIDController<units::radians>(
-          AutoConstants::kPThetaController, 0, 0,
-          AutoConstants::kThetaControllerConstraints),
+      frc2::PIDController(AutoConstants::kPYController, 0, 0), thetaController,
 
       [this](auto moduleStates) { m_drive.SetModuleStates(moduleStates); },
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
index 503cede410..26e6f22043 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 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.                                                               */
@@ -98,6 +98,10 @@ public class RobotContainer {
         config
     );
 
+    var thetaController = new ProfiledPIDController(AutoConstants.kPThetaController, 0, 0,
+        AutoConstants.kThetaControllerConstraints);
+    thetaController.enableContinuousInput(-Math.PI, Math.PI);
+
     SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
         exampleTrajectory,
         m_robotDrive::getPose, //Functional interface to feed supplier
@@ -105,9 +109,7 @@ public class RobotContainer {
 
         //Position controllers
         new PIDController(AutoConstants.kPXController, 0, 0),
-        new PIDController(AutoConstants.kPYController, 0, 0),
-        new ProfiledPIDController(AutoConstants.kPThetaController, 0, 0,
-                                  AutoConstants.kThetaControllerConstraints),
+        new PIDController(AutoConstants.kPYController, 0, 0), thetaController,
 
         m_robotDrive::setModuleStates,