diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
index 2ae6d5dd503..a0c6a4045a1 100644
--- a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -105,6 +105,10 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
 
     ConfigCalTime(cal_time);
 
+    m_spi = new SPI(m_spi_port);
+    m_spi->SetClockRate(1000000);
+    m_spi->SetMode(frc::SPI::Mode::kMode3);
+    m_spi->SetChipSelectActiveLow();
     // Configure standard SPI
     if (!SwitchToStandardSPI()) {
       return;
@@ -180,6 +184,7 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
           "required!");
     }
 
+    m_auto_interrupt = new DigitalInput(10);
     // Configure and enable auto SPI
     if (!SwitchToAutoSPI()) {
       return;
@@ -353,7 +358,7 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
       Wait(10_ms);
     }
     // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
-    if (m_spi != nullptr && m_auto_configured) {
+    if (m_auto_configured) {
       m_spi->StopAuto();
       // We need to get rid of all the garbage left in the auto SPI buffer after
       // stopping it.
@@ -372,13 +377,6 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
       }
     }
   }
-  // There doesn't seem to be a SPI port active. Let's try to set one up
-  if (m_spi == nullptr) {
-    m_spi = new SPI(m_spi_port);
-    m_spi->SetClockRate(1000000);
-    m_spi->SetMode(frc::SPI::Mode::kMode3);
-    m_spi->SetChipSelectActiveLow();
-  }
   ReadRegister(PROD_ID);  // Dummy read
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
@@ -420,15 +418,6 @@ void ADIS16448_IMU::InitOffsetBuffer(int size) {
  *are hard-coded to work only with the ADIS16448 IMU.
  **/
 bool ADIS16448_IMU::SwitchToAutoSPI() {
-  // No SPI port has been set up. Go set one up first.
-  if (m_spi == nullptr && !SwitchToStandardSPI()) {
-    REPORT_ERROR("Failed to start/restart auto SPI");
-    return false;
-  }
-  // Only set up the interrupt if needed.
-  if (m_auto_interrupt == nullptr) {
-    m_auto_interrupt = new DigitalInput(10);
-  }
   // The auto SPI controller gets angry if you try to set up two instances on
   // one bus.
   if (!m_auto_configured) {
diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
index 187bbb57aec..4decdcb239d 100644
--- a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -124,6 +124,10 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
     m_reset_in = new DigitalInput(27);  // Set SPI CS2 (IMU RST) high
     Wait(500_ms);                       // Wait for reset to complete
 
+    m_spi = new SPI(m_spi_port);
+    m_spi->SetClockRate(2000000);
+    m_spi->SetMode(frc::SPI::Mode::kMode3);
+    m_spi->SetChipSelectActiveLow();
     // Configure standard SPI
     if (!SwitchToStandardSPI()) {
       return;
@@ -188,6 +192,7 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
     // Write offset calibration command to IMU
     WriteRegister(GLOB_CMD, 0x0001);
 
+    m_auto_interrupt = new DigitalInput(26);
     // Configure and enable auto SPI
     if (!SwitchToAutoSPI()) {
       return;
@@ -332,7 +337,7 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
       Wait(10_ms);
     }
     // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
-    if (m_spi != nullptr && m_auto_configured) {
+    if (m_auto_configured) {
       m_spi->StopAuto();
       // We need to get rid of all the garbage left in the auto SPI buffer after
       // stopping it.
@@ -350,13 +355,6 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
       }
     }
   }
-  // There doesn't seem to be a SPI port active. Let's try to set one up
-  if (m_spi == nullptr) {
-    m_spi = new SPI(m_spi_port);
-    m_spi->SetClockRate(2000000);
-    m_spi->SetMode(frc::SPI::Mode::kMode3);
-    m_spi->SetChipSelectActiveLow();
-  }
   ReadRegister(PROD_ID);  // Dummy read
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
@@ -385,16 +383,6 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
  *are hard-coded to work only with the ADIS16470 IMU.
  **/
 bool ADIS16470_IMU::SwitchToAutoSPI() {
-  // No SPI port has been set up. Go set one up first.
-  if (m_spi == nullptr && !SwitchToStandardSPI()) {
-    REPORT_ERROR("Failed to start/restart auto SPI");
-    return false;
-  }
-
-  // Only set up the interrupt if needed.
-  if (m_auto_interrupt == nullptr) {
-    m_auto_interrupt = new DigitalInput(26);
-  }
   // The auto SPI controller gets angry if you try to set up two instances on
   // one bus.
   if (!m_auto_configured) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
index 38c0bfbab33..8843a9b1e34 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -269,6 +269,10 @@ public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_
 
       configCalTime(cal_time);
 
+      m_spi = new SPI(m_spi_port);
+      m_spi.setClockRate(1000000);
+      m_spi.setMode(SPI.Mode.kMode3);
+      m_spi.setChipSelectActiveLow();
       if (!switchToStandardSPI()) {
         return;
       }
@@ -337,6 +341,8 @@ public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_
             "ADIS16448: Flash and RAM configuration consistent. No flash update required!", false);
       }
 
+      // Set up the interrupt
+      m_auto_interrupt = new DigitalInput(10); // MXP DIO0
       // Configure standard SPI
       if (!switchToAutoSPI()) {
         return;
@@ -396,7 +402,7 @@ private boolean switchToStandardSPI() {
       }
       System.out.println("Paused the IMU processing thread successfully!");
       // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
-      if (m_spi != null && m_auto_configured) {
+      if (m_auto_configured) {
         m_spi.stopAuto();
         // We need to get rid of all the garbage left in the auto SPI buffer after
         // stopping it.
@@ -417,14 +423,6 @@ private boolean switchToStandardSPI() {
         System.out.println("Paused auto SPI successfully.");
       }
     }
-    // There doesn't seem to be a SPI port active. Let's try to set one up
-    if (m_spi == null) {
-      System.out.println("Setting up a new SPI port.");
-      m_spi = new SPI(m_spi_port);
-      m_spi.setClockRate(1000000);
-      m_spi.setMode(SPI.Mode.kMode3);
-      m_spi.setChipSelectActiveLow();
-    }
     readRegister(PROD_ID); // Dummy read
     // Validate the product ID
     if (readRegister(PROD_ID) != 16448) {
@@ -436,15 +434,6 @@ private boolean switchToStandardSPI() {
   }
 
   boolean switchToAutoSPI() {
-    // No SPI port has been set up. Go set one up first.
-    if (m_spi == null && !switchToStandardSPI()) {
-      DriverStation.reportError("Failed to start/restart auto SPI", false);
-      return false;
-    }
-    // Only set up the interrupt if needed.
-    if (m_auto_interrupt == null) {
-      m_auto_interrupt = new DigitalInput(10); // MXP DIO0
-    }
     // The auto SPI controller gets angry if you try to set up two instances on one
     // bus.
     if (!m_auto_configured) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
index e3528e6d137..e158cb1369c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -337,6 +337,10 @@ public ADIS16470_IMU(
       m_reset_in = new DigitalInput(27); // Set SPI CS2 (IMU RST) high
       Timer.delay(0.25); // Wait for reset to complete
 
+      m_spi = new SPI(m_spi_port);
+      m_spi.setClockRate(2000000);
+      m_spi.setMode(SPI.Mode.kMode3);
+      m_spi.setChipSelectActiveLow();
       if (!switchToStandardSPI()) {
         return;
       }
@@ -397,6 +401,8 @@ public ADIS16470_IMU(
       // Write offset calibration command to IMU
       writeRegister(GLOB_CMD, 0x0001);
 
+      // Configure interrupt on SPI CS1
+      m_auto_interrupt = new DigitalInput(26);
       // Configure and enable auto SPI
       if (!switchToAutoSPI()) {
         return;
@@ -452,7 +458,7 @@ private boolean switchToStandardSPI() {
       }
       System.out.println("Paused the IMU processing thread successfully!");
       // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
-      if (m_spi != null && m_auto_configured) {
+      if (m_auto_configured) {
         m_spi.stopAuto();
         // We need to get rid of all the garbage left in the auto SPI buffer after
         // stopping it.
@@ -471,14 +477,6 @@ private boolean switchToStandardSPI() {
         System.out.println("Paused auto SPI successfully.");
       }
     }
-    // There doesn't seem to be a SPI port active. Let's try to set one up
-    if (m_spi == null) {
-      System.out.println("Setting up a new SPI port.");
-      m_spi = new SPI(m_spi_port);
-      m_spi.setClockRate(2000000);
-      m_spi.setMode(SPI.Mode.kMode3);
-      m_spi.setChipSelectActiveLow();
-    }
     readRegister(PROD_ID); // Dummy read
     // Validate the product ID
     if (readRegister(PROD_ID) != 16982) {
@@ -495,16 +493,6 @@ private boolean switchToStandardSPI() {
    * @return True if successful, false otherwise.
    */
   boolean switchToAutoSPI() {
-    // No SPI port has been set up. Go set one up first.
-    if (m_spi == null && !switchToStandardSPI()) {
-      DriverStation.reportError("Failed to start/restart auto SPI", false);
-      return false;
-    }
-    // Only set up the interrupt if needed.
-    if (m_auto_interrupt == null) {
-      // Configure interrupt on SPI CS1
-      m_auto_interrupt = new DigitalInput(26);
-    }
     // The auto SPI controller gets angry if you try to set up two instances on one
     // bus.
     if (!m_auto_configured) {