diff --git a/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionPIDController.java b/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionPIDController.java
index ce741286..776041c8 100644
--- a/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionPIDController.java
+++ b/src/main/java/com/team766/controllers/CanSparkMaxSmartMotionPIDController.java
@@ -170,6 +170,8 @@ public void setSetpoint(double position){
 		}
 
 		setPointPosition = position;
+
+		theState = PIDSTATE.PID;
 	}
 
 	public void stop(){