diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/PIDInputOutputTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/PIDInputOutputTest.java
index 7bda5699ffe..d464057cb79 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/PIDInputOutputTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/PIDInputOutputTest.java
@@ -57,16 +57,4 @@ void derivativeGainOutputTest() {
 
     assertEquals(-0.01 / m_controller.getPeriod(), m_controller.calculate(0.0025, 0), 1e-5);
   }
-
-  @Test
-  void atSetpointTest() {
-    m_controller.reset();
-    assertFalse(m_controller.atSetpoint());
-    m_controller.setTolerance(2);
-    assertFalse(m_controller.atSetpoint());
-    m_controller.setSetpoint(0);
-    assertFalse(m_controller.atSetpoint());
-    m_controller.calculate(0);
-    assertTrue(m_controller.atSetpoint());
-  }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/PIDToleranceTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/PIDToleranceTest.java
index b525f49e0f5..4fdb8670b39 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/PIDToleranceTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/PIDToleranceTest.java
@@ -19,7 +19,7 @@ void initialToleranceTest() {
     try (var controller = new PIDController(0.05, 0.0, 0.0)) {
       controller.enableContinuousInput(-kRange / 2, kRange / 2);
 
-      assertTrue(controller.atSetpoint());
+      assertFalse(controller.atSetpoint());
     }
   }
 
@@ -28,10 +28,7 @@ void absoluteToleranceTest() {
     try (var controller = new PIDController(0.05, 0.0, 0.0)) {
       controller.enableContinuousInput(-kRange / 2, kRange / 2);
 
-      assertTrue(
-          controller.atSetpoint(),
-          "Error was not in tolerance when it should have been. Error was "
-              + controller.getPositionError());
+      assertFalse(controller.atSetpoint());
 
       controller.setTolerance(kTolerance);
       controller.setSetpoint(kSetpoint);