diff --git a/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubPositionConstants.cpp b/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubPositionConstants.cpp
index 8a31912b1d1..9a0ed2f2af1 100644
--- a/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubPositionConstants.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubPositionConstants.cpp
@@ -9,8 +9,9 @@
 
 using namespace wpi;
 
-ExpansionHubPositionConstants::ExpansionHubPositionConstants(int hubNumber,
-                                                             int motorNumber) {
+ExpansionHubPositionConstants::ExpansionHubPositionConstants(
+    int hubNumber, int motorNumber) {
+
   auto systemServer = SystemServer::GetSystemServer();
 
   wpi::nt::PubSubOptions options;
@@ -20,33 +21,42 @@ ExpansionHubPositionConstants::ExpansionHubPositionConstants(int hubNumber,
 
   m_pPublisher =
       systemServer
-          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/kp",
-                                      hubNumber, motorNumber))
+          .GetDoubleTopic(fmt::format(
+              "/rhsp/{}/motor{}/constants/position/kp",
+              hubNumber, motorNumber))
           .Publish(options);
 
   m_iPublisher =
       systemServer
-          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/ki",
-                                      hubNumber, motorNumber))
+          .GetDoubleTopic(fmt::format(
+              "/rhsp/{}/motor{}/constants/position/ki",
+              hubNumber, motorNumber))
           .Publish(options);
 
   m_dPublisher =
       systemServer
-          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/kd",
-                                      hubNumber, motorNumber))
+          .GetDoubleTopic(fmt::format(
+              "/rhsp/{}/motor{}/constants/position/kd",
+              hubNumber, motorNumber))
           .Publish(options);
 
+  // Default PID values
+  m_pPublisher.SetDefault(1.0);
+  m_iPublisher.SetDefault(0.0);
+  m_dPublisher.SetDefault(0.01);
+
   m_sPublisher =
       systemServer
-          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/ks",
-                                      hubNumber, motorNumber))
+          .GetDoubleTopic(fmt::format(
+              "/rhsp/{}/motor{}/constants/position/ks",
+              hubNumber, motorNumber))
           .Publish(options);
 
   m_continuousPublisher =
       systemServer
-          .GetBooleanTopic(
-              fmt::format("/rhsp/{}/motor{}/constants/position/continuous",
-                          hubNumber, motorNumber))
+          .GetBooleanTopic(fmt::format(
+              "/rhsp/{}/motor{}/constants/position/continuous",
+              hubNumber, motorNumber))
           .Publish(options);
 
   m_continuousMinimumPublisher =
@@ -64,26 +74,31 @@ ExpansionHubPositionConstants::ExpansionHubPositionConstants(int hubNumber,
           .Publish(options);
 }
 
-ExpansionHubPositionConstants& ExpansionHubPositionConstants::SetPID(double p,
-                                                                     double i,
-                                                                     double d) {
+ExpansionHubPositionConstants&
+ExpansionHubPositionConstants::SetPID(double p,
+                                      double i,
+                                      double d) {
   m_pPublisher.Set(p);
   m_iPublisher.Set(i);
   m_dPublisher.Set(d);
   return *this;
 }
 
-ExpansionHubPositionConstants& ExpansionHubPositionConstants::SetS(double s) {
+ExpansionHubPositionConstants&
+ExpansionHubPositionConstants::SetS(double s) {
   m_sPublisher.Set(s);
   return *this;
 }
 
 ExpansionHubPositionConstants&
-ExpansionHubPositionConstants::EnableContinuousInput(double minimumInput,
-                                                     double maximumInput) {
+ExpansionHubPositionConstants::EnableContinuousInput(
+    double minimumInput,
+    double maximumInput) {
+
   m_continuousMaximumPublisher.Set(maximumInput);
   m_continuousMinimumPublisher.Set(minimumInput);
   m_continuousPublisher.Set(true);
+
   return *this;
 }
 
diff --git a/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubVelocityConstants.cpp b/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubVelocityConstants.cpp
index 289746510d3..694cc328060 100644
--- a/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubVelocityConstants.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubVelocityConstants.cpp
@@ -35,6 +35,9 @@ ExpansionHubVelocityConstants::ExpansionHubVelocityConstants(int hubNumber,
           .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/velocity/kd",
                                       hubNumber, motorNumber))
           .Publish(options);
+    m_pPublisher.SetDefault(1.0);
+  m_iPublisher.SetDefault(0.0);
+  m_dPublisher.SetDefault(0.01);
 
   m_sPublisher =
       systemServer
diff --git a/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubPositionConstants.java b/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubPositionConstants.java
index f10c6dd9baf..d91ee346d7f 100644
--- a/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubPositionConstants.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubPositionConstants.java
@@ -12,6 +12,7 @@
 
 /** This class contains feedback and feedforward constants for an ExpansionHub motor. */
 public class ExpansionHubPositionConstants {
+
   private final DoublePublisher m_pPublisher;
   private final DoublePublisher m_iPublisher;
   private final DoublePublisher m_dPublisher;
@@ -23,35 +24,43 @@ public class ExpansionHubPositionConstants {
   private final DoublePublisher m_continuousMaximumPublisher;
 
   ExpansionHubPositionConstants(int hubNumber, int motorNumber) {
+
     NetworkTableInstance systemServer = SystemServer.getSystemServer();
 
     PubSubOption[] options =
         new PubSubOption[] {
-          PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES, PubSubOption.periodic(0.005)
+          PubSubOption.SEND_ALL,
+          PubSubOption.KEEP_DUPLICATES,
+          PubSubOption.periodic(0.005)
         };
 
     m_pPublisher =
         systemServer
             .getDoubleTopic(
-                "/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position" + "/kp")
+                "/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position/kp")
             .publish(options);
 
     m_iPublisher =
         systemServer
             .getDoubleTopic(
-                "/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position" + "/ki")
+                "/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position/ki")
             .publish(options);
 
     m_dPublisher =
         systemServer
             .getDoubleTopic(
-                "/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position" + "/kd")
+                "/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position/kd")
             .publish(options);
 
+    // Default PID values
+    m_pPublisher.setDefault(1.0);
+    m_iPublisher.setDefault(0.0);
+    m_dPublisher.setDefault(0.01);
+
     m_sPublisher =
         systemServer
             .getDoubleTopic(
-                "/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position" + "/ks")
+                "/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/position/ks")
             .publish(options);
 
     m_continuousPublisher =
@@ -61,8 +70,7 @@ public class ExpansionHubPositionConstants {
                     + hubNumber
                     + "/motor"
                     + motorNumber
-                    + "/constants/position"
-                    + "/continuous")
+                    + "/constants/position/continuous")
             .publish(options);
 
     m_continuousMinimumPublisher =
@@ -72,8 +80,7 @@ public class ExpansionHubPositionConstants {
                     + hubNumber
                     + "/motor"
                     + motorNumber
-                    + "/constants/position"
-                    + "/continuousMinimum")
+                    + "/constants/position/continuousMinimum")
             .publish(options);
 
     m_continuousMaximumPublisher =
@@ -83,8 +90,7 @@ public class ExpansionHubPositionConstants {
                     + hubNumber
                     + "/motor"
                     + motorNumber
-                    + "/constants/position"
-                    + "/continuousMaximum")
+                    + "/constants/position/continuousMaximum")
             .publish(options);
   }
 
@@ -123,8 +129,9 @@ public ExpansionHubPositionConstants setS(double s) {
   /**
    * Enables continuous input.
    *
-   * <p>Rather then using the max and min input range as constraints, it considers them to be the
-   * same point and automatically calculates the shortest route to the setpoint.
+   * <p>Rather then using the max and min input range as constraints, it considers
+   * them to be the same point and automatically calculates the shortest route to
+   * the setpoint.
    *
    * @param minimumInput The minimum value expected from the input.
    * @param maximumInput The maximum value expected from the input.
@@ -132,9 +139,11 @@ public ExpansionHubPositionConstants setS(double s) {
    */
   public ExpansionHubPositionConstants enableContinuousInput(
       double minimumInput, double maximumInput) {
+
     m_continuousMaximumPublisher.set(maximumInput);
     m_continuousMinimumPublisher.set(minimumInput);
     m_continuousPublisher.set(true);
+
     return this;
   }
 
diff --git a/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubVelocityConstants.java b/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubVelocityConstants.java
index 5b65e4c8c64..db7dd1e9596 100644
--- a/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubVelocityConstants.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubVelocityConstants.java
@@ -44,6 +44,9 @@ public class ExpansionHubVelocityConstants {
             .getDoubleTopic(
                 "/rhsp/" + hubNumber + "/motor" + motorNumber + "/constants/velocity" + "/kd")
             .publish(options);
+     m_pPublisher.set(1);
+    m_iPublisher.set(0);
+    m_dPublisher.set(0.01);
 
     m_sPublisher =
         systemServer