diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp
index 071f79e183c..1cfe39c6ee8 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp
@@ -75,7 +75,7 @@ class SysIdRoutineTest : public ::testing::Test {
 
   frc2::sysid::SysIdRoutine m_emptySysidRoutine{
       frc2::sysid::Config{std::nullopt, std::nullopt, std::nullopt, nullptr},
-      frc2::sysid::Mechanism{[this](units::volt_t driveVoltage) {}, nullptr,
+      frc2::sysid::Mechanism{[](units::volt_t driveVoltage) {}, nullptr,
                              &m_subsystem}};
 
   frc2::CommandPtr m_emptyRoutineForward{
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Drive.h b/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Drive.h
index 61d34f131f7..45d4fa3aab0 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Drive.h
+++ b/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Drive.h
@@ -39,8 +39,7 @@ class Drive : public frc2::SubsystemBase {
                               constants::drive::kRightEncoderReversed};
 
   frc2::sysid::SysIdRoutine m_sysIdRoutine{
-      frc2::sysid::Config{std::nullopt, std::nullopt, std::nullopt,
-                          std::nullopt},
+      frc2::sysid::Config{std::nullopt, std::nullopt, std::nullopt, nullptr},
       frc2::sysid::Mechanism{
           [this](units::volt_t driveVoltage) {
             m_leftMotor.SetVoltage(driveVoltage);
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Shooter.h b/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Shooter.h
index 0a33db68ea3..4f10c18277d 100644
--- a/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Shooter.h
+++ b/wpilibcExamples/src/main/cpp/examples/SysId/include/subsystems/Shooter.h
@@ -33,8 +33,7 @@ class Shooter : public frc2::SubsystemBase {
                                 constants::shooter::kEncoderReversed};
 
   frc2::sysid::SysIdRoutine m_sysIdRoutine{
-      frc2::sysid::Config{std::nullopt, std::nullopt, std::nullopt,
-                          std::nullopt},
+      frc2::sysid::Config{std::nullopt, std::nullopt, std::nullopt, nullptr},
       frc2::sysid::Mechanism{
           [this](units::volt_t driveVoltage) {
             m_shooterMotor.SetVoltage(driveVoltage);