diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java
index 0b24411b6e..6212059e59 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -173,7 +173,7 @@ public class TrapezoidProfile {
    */
   @SuppressWarnings("ParameterName")
   public State calculate(double t) {
-    State result = m_initial;
+    State result = new State(m_initial.position, m_initial.velocity);
 
     if (t < m_endAccel) {
       result.velocity += t * m_constraints.maxAcceleration;