diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
index d7a695fced..0d8b11b465 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -52,7 +52,7 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
       throw new IllegalArgumentException("kv must be a non-negative number, got " + kv + "!");
     }
     if (ka < 0.0) {
-      throw new IllegalArgumentException("ka must be a non-negative number, got " + kv + "!");
+      throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
index 854462a652..dc56ece26a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
@@ -55,7 +55,7 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
       throw new IllegalArgumentException("kv must be a non-negative number, got " + kv + "!");
     }
     if (ka < 0.0) {
-      throw new IllegalArgumentException("ka must be a non-negative number, got " + kv + "!");
+      throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
index 2b25bccbf8..eeb76db319 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
@@ -37,7 +37,7 @@ public class SimpleMotorFeedforward {
       throw new IllegalArgumentException("kv must be a non-negative number, got " + kv + "!");
     }
     if (ka < 0.0) {
-      throw new IllegalArgumentException("ka must be a non-negative number, got " + kv + "!");
+      throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
   }