diff --git a/ftc/src/main/kotlin/page/j5155/expressway/ftc/motion/PIDFController.kt b/ftc/src/main/kotlin/page/j5155/expressway/ftc/motion/PIDFController.kt
index 125fd68..8c2c169 100644
--- a/ftc/src/main/kotlin/page/j5155/expressway/ftc/motion/PIDFController.kt
+++ b/ftc/src/main/kotlin/page/j5155/expressway/ftc/motion/PIDFController.kt
@@ -123,7 +123,7 @@ open class PIDFController
      */
     @JvmOverloads
     open fun update(
-        timestamp: Long = System.nanoTime(),
+        timestamp: Long,
         measuredPosition: Double,
         measuredVelocity: Double? = null
     ): Double {