diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index b5e948b..bebe34e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -257,6 +257,16 @@ public class RobotContainer {
 
 		sensorTab.addDouble("ElevMotor2", elevator::getMotor2)
 			.withWidget(BuiltInWidgets.kGraph);
+
+		sensorTab.addDouble("Elevator setpoint", elevator::getPIDSetpoint)
+			.withSize(1, 1)
+			.withPosition(5, 0)
+			.withWidget(BuiltInWidgets.kTextView);
+
+		sensorTab.addDouble("Elevator error", elevator::getPIDError)
+			.withSize(1, 1)
+			.withPosition(5, 1)
+			.withWidget(BuiltInWidgets.kTextView);
  	}
 
 	public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java
index 2158df3..d9aa681 100644
--- a/src/main/java/frc/robot/subsystems/Elevator.java
+++ b/src/main/java/frc/robot/subsystems/Elevator.java
@@ -228,4 +228,12 @@ public class Elevator extends SubsystemBase {
     public double getMotor2() {
         return elevatorMotor2.getAppliedOutput()*elevatorMotor2.getBusVoltage();
     }
+
+    public double getPIDSetpoint() {
+        return pidController.getSetpoint();
+    }
+
+    public double getPIDError() {
+        return pidController.getError();
+    }
 }
\ No newline at end of file