diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
index f1a6512bf2..cde0574a2f 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
@@ -69,12 +69,12 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
 
   // An example trajectory to follow.  All units in meters.
   auto exampleTrajectory = frc::TrajectoryGenerator::GenerateTrajectory(
-      // Start at the origin facing the +X direction
-      frc::Pose2d(),
+      // Start at (1, 2) facing the +X direction
+      frc::Pose2d(1_m, 2_m, 0_deg),
       // Pass through these two interior waypoints, making an 's' curve path
-      {frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
+      {frc::Translation2d(2_m, 3_m), frc::Translation2d(3_m, 1_m)},
       // End 3 meters straight ahead of where we started, facing forward
-      frc::Pose2d(3_m, 0_m, 0_deg),
+      frc::Pose2d(4_m, 2_m, 0_deg),
       // Pass the config
       config);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java
index a0e0d04372..2c8036a122 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java
@@ -70,7 +70,7 @@ public final class Constants {
     public static final double kDriveGearing = 8;
 
     // Example value only - as above, this must be tuned for your drive!
-    public static final double kPDriveVel = 0.1;
+    public static final double kPDriveVel = 8.5;
   }
 
   public static final class OIConstants {
@@ -79,7 +79,7 @@ public final class Constants {
 
   public static final class AutoConstants {
     public static final double kMaxSpeedMetersPerSecond = 3;
-    public static final double kMaxAccelerationMetersPerSecondSquared = 6;
+    public static final double kMaxAccelerationMetersPerSecondSquared = 3;
 
     // Reasonable baseline values for a RAMSETE follower in units of meters and seconds
     public static final double kRamseteB = 2;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
index e5e0266163..3bcc444e85 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.trajectory.Trajectory;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
@@ -108,12 +109,12 @@ public class RobotContainer {
     // An example trajectory to follow.  All units in meters.
     Trajectory exampleTrajectory =
         TrajectoryGenerator.generateTrajectory(
-            // Start at the origin facing the +X direction
-            new Pose2d(0, 0, new Rotation2d(0)),
+            // Start at (1, 2) facing the +X direction
+            new Pose2d(1, 2, new Rotation2d(0)),
             // Pass through these two interior waypoints, making an 's' curve path
-            List.of(),
+            List.of(new Translation2d(2, 3), new Translation2d(3, 1)),
             // End 3 meters straight ahead of where we started, facing forward
-            new Pose2d(6, 6, new Rotation2d(0)),
+            new Pose2d(4, 2, new Rotation2d(0)),
             // Pass config
             config);