diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java b/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
index a19de59f0b..28ac63033f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
@@ -40,11 +40,7 @@ public class Debouncer {
 
     resetTimer();
 
-    m_baseline =
-        switch (m_debounceType) {
-          case kBoth, kRising -> false;
-          case kFalling -> true;
-        };
+    m_baseline = m_debounceType == DebounceType.kFalling;
   }
 
   /**
@@ -114,6 +110,8 @@ public class Debouncer {
    */
   public void setDebounceType(DebounceType type) {
     m_debounceType = type;
+
+    m_baseline = m_debounceType == DebounceType.kFalling;
   }
 
   /**
diff --git a/wpimath/src/main/native/cpp/filter/Debouncer.cpp b/wpimath/src/main/native/cpp/filter/Debouncer.cpp
index 841768eb20..18e23a0961 100644
--- a/wpimath/src/main/native/cpp/filter/Debouncer.cpp
+++ b/wpimath/src/main/native/cpp/filter/Debouncer.cpp
@@ -10,15 +10,7 @@ using namespace frc;
 
 Debouncer::Debouncer(units::second_t debounceTime, DebounceType type)
     : m_debounceTime(debounceTime), m_debounceType(type) {
-  switch (type) {
-    case DebounceType::kBoth:  // fall-through
-    case DebounceType::kRising:
-      m_baseline = false;
-      break;
-    case DebounceType::kFalling:
-      m_baseline = true;
-      break;
-  }
+  m_baseline = m_debounceType == DebounceType::kFalling;
   ResetTimer();
 }
 
diff --git a/wpimath/src/main/native/include/frc/filter/Debouncer.h b/wpimath/src/main/native/include/frc/filter/Debouncer.h
index 45ed5df8e6..9b2d18b519 100644
--- a/wpimath/src/main/native/include/frc/filter/Debouncer.h
+++ b/wpimath/src/main/native/include/frc/filter/Debouncer.h
@@ -71,7 +71,11 @@ class WPILIB_DLLEXPORT Debouncer {
    *
    * @param type Which type of state change the debouncing will be performed on.
    */
-  constexpr void SetDebounceType(DebounceType type) { m_debounceType = type; }
+  constexpr void SetDebounceType(DebounceType type) {
+    m_debounceType = type;
+
+    m_baseline = m_debounceType == DebounceType::kFalling;
+  }
 
   /**
    * Get the debounce type.
diff --git a/wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java b/wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java
index 8cf8fd8812..726fda89d2 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java
@@ -84,5 +84,6 @@ class DebouncerTest {
     debouncer.setDebounceType(Debouncer.DebounceType.kFalling);
 
     assertSame(debouncer.getDebounceType(), Debouncer.DebounceType.kFalling);
+    assertTrue(debouncer.calculate(false));
   }
 }
diff --git a/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp b/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
index e1a990964b..8b0e56cd96 100644
--- a/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
@@ -72,4 +72,6 @@ TEST_F(DebouncerTest, DebounceParams) {
 
   EXPECT_TRUE(debouncer.GetDebounceType() ==
               frc::Debouncer::DebounceType::kFalling);
+
+  EXPECT_TRUE(debouncer.Calculate(false));
 }