diff --git a/src/main/java/swervelib/parser/PIDFConfig.java b/src/main/java/swervelib/parser/PIDFConfig.java
index 9da06849c..b9ec98d92 100644
--- a/src/main/java/swervelib/parser/PIDFConfig.java
+++ b/src/main/java/swervelib/parser/PIDFConfig.java
@@ -103,6 +103,10 @@ public PIDFConfig(double p, double d)
    */
   public PIDController createPIDController()
   {
-    return new PIDController(p, i, d);
+    PIDController pidController = new PIDController(p, i, d);
+    if (iz != 0) {
+      pidController.setIZone(iz);
+    }
+    return pidController;
   }
 }