diff --git a/wpilibc/athena/src/PIDController.cpp b/wpilibc/athena/src/PIDController.cpp
index 24b3e25fc6..dcb6240959 100644
--- a/wpilibc/athena/src/PIDController.cpp
+++ b/wpilibc/athena/src/PIDController.cpp
@@ -35,9 +35,8 @@ static const std::string kEnabled = "enabled";
  *               The default is 50ms.
  */
 PIDController::PIDController(float Kp, float Ki, float Kd, PIDSource* source,
-                             PIDOutput* output, float period) {
-  Initialize(Kp, Ki, Kd, 0.0f, source, output, period);
-}
+                             PIDOutput* output, float period)
+    : PIDController(Kp, Ki, Kd, 0.0f, source, output, period) {}
 
 /**
  * Allocate a PID object with the given constants for P, I, D.
@@ -54,12 +53,6 @@ PIDController::PIDController(float Kp, float Ki, float Kd, PIDSource* source,
 PIDController::PIDController(float Kp, float Ki, float Kd, float Kf,
                              PIDSource* source, PIDOutput* output,
                              float period) {
-  Initialize(Kp, Ki, Kd, Kf, source, output, period);
-}
-
-void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
-                               PIDSource* source, PIDOutput* output,
-                               float period) {
   m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
 
   m_P = Kp;
diff --git a/wpilibc/shared/include/PIDController.h b/wpilibc/shared/include/PIDController.h
index 2add6d2b3d..a2bd436b46 100644
--- a/wpilibc/shared/include/PIDController.h
+++ b/wpilibc/shared/include/PIDController.h
@@ -139,9 +139,6 @@ class PIDController : public LiveWindowSendable,
   std::unique_ptr<Notifier> m_controlLoop;
   Timer m_setpointTimer;
 
-  void Initialize(float p, float i, float d, float f, PIDSource* source,
-                  PIDOutput* output, float period = 0.05);
-
   std::shared_ptr<ITable> GetTable() const override;
   std::string GetSmartDashboardType() const override;
   void ValueChanged(ITable* source, llvm::StringRef key,
diff --git a/wpilibc/sim/src/PIDController.cpp b/wpilibc/sim/src/PIDController.cpp
index f8596ced9b..3e9697c839 100644
--- a/wpilibc/sim/src/PIDController.cpp
+++ b/wpilibc/sim/src/PIDController.cpp
@@ -33,9 +33,8 @@ static const std::string kEnabled = "enabled";
  *               default is 50ms.
  */
 PIDController::PIDController(float Kp, float Ki, float Kd, PIDSource* source,
-                             PIDOutput* output, float period) {
-  Initialize(Kp, Ki, Kd, 0.0f, source, output, period);
-}
+                             PIDOutput* output, float period)
+    : PIDController(Kp, Ki, Kd, 0.0f, source, output, period) {}
 
 /**
  * Allocate a PID object with the given constants for P, I, D.
@@ -52,12 +51,6 @@ PIDController::PIDController(float Kp, float Ki, float Kd, PIDSource* source,
 PIDController::PIDController(float Kp, float Ki, float Kd, float Kf,
                              PIDSource* source, PIDOutput* output,
                              float period) {
-  Initialize(Kp, Ki, Kd, Kf, source, output, period);
-}
-
-void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
-                               PIDSource* source, PIDOutput* output,
-                               float period) {
   m_table = nullptr;
 
   m_P = Kp;