diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
index 94f942fb093..45ac09a9182 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -45,7 +45,7 @@ public class RamseteCommand extends CommandBase {
   private final PIDController m_leftController;
   private final PIDController m_rightController;
   private final BiConsumer<Double, Double> m_output;
-  private DifferentialDriveWheelSpeeds m_prevSpeeds;
+  private DifferentialDriveWheelSpeeds m_prevSpeeds = new DifferentialDriveWheelSpeeds();
   private double m_prevTime;
 
   /**