diff --git a/wpilibc/src/main/native/cpp/spline/CubicHermiteSpline.cpp b/wpilibc/src/main/native/cpp/spline/CubicHermiteSpline.cpp
index 3578b1daec..3991fec4d2 100644
--- a/wpilibc/src/main/native/cpp/spline/CubicHermiteSpline.cpp
+++ b/wpilibc/src/main/native/cpp/spline/CubicHermiteSpline.cpp
@@ -27,10 +27,20 @@ CubicHermiteSpline::CubicHermiteSpline(
   // Populate Row 2 and Row 3 with the derivatives of the equations above.
   // Then populate row 4 and 5 with the second derivatives.
   for (int i = 0; i < 4; i++) {
+    // Here, we are multiplying by (3 - i) to manually take the derivative. The
+    // power of the term in index 0 is 3, index 1 is 2 and so on. To find the
+    // coefficient of the derivative, we can use the power rule and multiply
+    // the existing coefficient by its power.
     m_coefficients.template block<2, 1>(2, i) =
         m_coefficients.template block<2, 1>(0, i) * (3 - i);
+  }
 
+  for (int i = 0; i < 3; i++) {
+    // Here, we are multiplying by (2 - i) to manually take the derivative. The
+    // power of the term in index 0 is 2, index 1 is 1 and so on. To find the
+    // coefficient of the derivative, we can use the power rule and multiply
+    // the existing coefficient by its power.
     m_coefficients.template block<2, 1>(4, i) =
-        m_coefficients.template block<2, 1>(2, i) * (3 - i);
+        m_coefficients.template block<2, 1>(2, i) * (2 - i);
   }
 }
diff --git a/wpilibc/src/main/native/cpp/spline/QuinticHermiteSpline.cpp b/wpilibc/src/main/native/cpp/spline/QuinticHermiteSpline.cpp
index f714c6f617..bb8ad3c320 100644
--- a/wpilibc/src/main/native/cpp/spline/QuinticHermiteSpline.cpp
+++ b/wpilibc/src/main/native/cpp/spline/QuinticHermiteSpline.cpp
@@ -27,10 +27,19 @@ QuinticHermiteSpline::QuinticHermiteSpline(
   // Populate Row 2 and Row 3 with the derivatives of the equations above.
   // Then populate row 4 and 5 with the second derivatives.
   for (int i = 0; i < 6; i++) {
+    // Here, we are multiplying by (5 - i) to manually take the derivative. The
+    // power of the term in index 0 is 5, index 1 is 4 and so on. To find the
+    // coefficient of the derivative, we can use the power rule and multiply
+    // the existing coefficient by its power.
     m_coefficients.template block<2, 1>(2, i) =
         m_coefficients.template block<2, 1>(0, i) * (5 - i);
-
+  }
+  for (int i = 0; i < 5; i++) {
+    // Here, we are multiplying by (4 - i) to manually take the derivative. The
+    // power of the term in index 0 is 4, index 1 is 3 and so on. To find the
+    // coefficient of the derivative, we can use the power rule and multiply
+    // the existing coefficient by its power.
     m_coefficients.template block<2, 1>(4, i) =
-        m_coefficients.template block<2, 1>(2, i) * (5 - i);
+        m_coefficients.template block<2, 1>(2, i) * (4 - i);
   }
 }
diff --git a/wpilibc/src/main/native/include/frc/spline/CubicHermiteSpline.h b/wpilibc/src/main/native/include/frc/spline/CubicHermiteSpline.h
index a8979c1651..1e08a942e8 100644
--- a/wpilibc/src/main/native/include/frc/spline/CubicHermiteSpline.h
+++ b/wpilibc/src/main/native/include/frc/spline/CubicHermiteSpline.h
@@ -48,7 +48,8 @@ class CubicHermiteSpline : public Spline<3> {
   }
 
  private:
-  Eigen::Matrix<double, 6, 4> m_coefficients;
+  Eigen::Matrix<double, 6, 4> m_coefficients =
+      Eigen::Matrix<double, 6, 4>::Zero();
 
   /**
    * Returns the hermite basis matrix for cubic hermite spline interpolation.
diff --git a/wpilibc/src/main/native/include/frc/spline/QuinticHermiteSpline.h b/wpilibc/src/main/native/include/frc/spline/QuinticHermiteSpline.h
index 730eab42f3..632d3adcf7 100644
--- a/wpilibc/src/main/native/include/frc/spline/QuinticHermiteSpline.h
+++ b/wpilibc/src/main/native/include/frc/spline/QuinticHermiteSpline.h
@@ -48,7 +48,8 @@ class QuinticHermiteSpline : public Spline<5> {
   }
 
  private:
-  Eigen::Matrix<double, 6, 6> m_coefficients;
+  Eigen::Matrix<double, 6, 6> m_coefficients =
+      Eigen::Matrix<double, 6, 6>::Zero();
 
   /**
    * Returns the hermite basis matrix for quintic hermite spline interpolation.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java
index 5674231d96..578787c4f3 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java
@@ -50,10 +50,21 @@ public class CubicHermiteSpline extends Spline {
 
       // Populate Row 2 and Row 3 with the derivatives of the equations above.
       // Then populate row 4 and 5 with the second derivatives.
+      // Here, we are multiplying by (3 - i) to manually take the derivative. The
+      // power of the term in index 0 is 3, index 1 is 2 and so on. To find the
+      // coefficient of the derivative, we can use the power rule and multiply
+      // the existing coefficient by its power.
       m_coefficients.set(2, i, m_coefficients.get(0, i) * (3 - i));
       m_coefficients.set(3, i, m_coefficients.get(1, i) * (3 - i));
-      m_coefficients.set(4, i, m_coefficients.get(2, i) * (3 - i));
-      m_coefficients.set(5, i, m_coefficients.get(3, i) * (3 - i));
+    }
+
+    for (int i = 0; i < 3; i++) {
+      // Here, we are multiplying by (2 - i) to manually take the derivative. The
+      // power of the term in index 0 is 2, index 1 is 1 and so on. To find the
+      // coefficient of the derivative, we can use the power rule and multiply
+      // the existing coefficient by its power.
+      m_coefficients.set(4, i, m_coefficients.get(2, i) * (2 - i));
+      m_coefficients.set(5, i, m_coefficients.get(3, i) * (2 - i));
     }
 
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
index 562134167d..3b2d3ebebd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
@@ -47,13 +47,24 @@ public class QuinticHermiteSpline extends Spline {
     for (int i = 0; i < 6; i++) {
       m_coefficients.set(0, i, xCoeffs.get(0, i));
       m_coefficients.set(1, i, yCoeffs.get(0, i));
-
+    }
+    for (int i = 0; i < 6; i++) {
       // Populate Row 2 and Row 3 with the derivatives of the equations above.
-      // Then populate row 4 and 5 with the second derivatives.
+      // Here, we are multiplying by (5 - i) to manually take the derivative. The
+      // power of the term in index 0 is 5, index 1 is 4 and so on. To find the
+      // coefficient of the derivative, we can use the power rule and multiply
+      // the existing coefficient by its power.
       m_coefficients.set(2, i, m_coefficients.get(0, i) * (5 - i));
       m_coefficients.set(3, i, m_coefficients.get(1, i) * (5 - i));
-      m_coefficients.set(4, i, m_coefficients.get(2, i) * (5 - i));
-      m_coefficients.set(5, i, m_coefficients.get(3, i) * (5 - i));
+    }
+    for (int i = 0; i < 5; i++) {
+      // Then populate row 4 and 5 with the second derivatives.
+      // Here, we are multiplying by (4 - i) to manually take the derivative. The
+      // power of the term in index 0 is 4, index 1 is 3 and so on. To find the
+      // coefficient of the derivative, we can use the power rule and multiply
+      // the existing coefficient by its power.
+      m_coefficients.set(4, i, m_coefficients.get(2, i) * (4 - i));
+      m_coefficients.set(5, i, m_coefficients.get(3, i) * (4 - i));
     }
   }