diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
index b1b1389074..fb3a70dc8c 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
@@ -32,13 +32,9 @@ class Robot : public frc::TimedRobot {
       m_goal = {0_m, 0_mps};
     }
 
-    // Create a motion profile with the given maximum velocity and maximum
-    // acceleration constraints for the next setpoint.
-    frc::TrapezoidProfile<units::meters> profile{m_constraints};
-
     // Retrieve the profiled setpoint for the next timestep. This setpoint moves
     // toward the goal while obeying the constraints.
-    m_setpoint = profile.Calculate(kDt, m_goal, m_setpoint);
+    m_setpoint = m_profile.Calculate(kDt, m_goal, m_setpoint);
 
     // Send setpoint to offboard controller PID
     m_motor.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
@@ -53,8 +49,9 @@ class Robot : public frc::TimedRobot {
       // Note: These gains are fake, and will have to be tuned for your robot.
       1_V, 1.5_V * 1_s / 1_m};
 
-  frc::TrapezoidProfile<units::meters>::Constraints m_constraints{1.75_mps,
-                                                                  0.75_mps_sq};
+  // Create a motion profile with the given maximum velocity and maximum
+  // acceleration constraints for the next setpoint.
+  frc::TrapezoidProfile<units::meters> m_profile{{1.75_mps, 0.75_mps_sq}};
   frc::TrapezoidProfile<units::meters>::State m_goal;
   frc::TrapezoidProfile<units::meters>::State m_setpoint;
 };
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
index d6c25d6396..2acb5bcd39 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
@@ -17,8 +17,10 @@ public class Robot extends TimedRobot {
   // Note: These gains are fake, and will have to be tuned for your robot.
   private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 1.5);
 
-  private final TrapezoidProfile.Constraints m_constraints =
-      new TrapezoidProfile.Constraints(1.75, 0.75);
+  // Create a motion profile with the given maximum velocity and maximum
+  // acceleration constraints for the next setpoint.
+  private final TrapezoidProfile m_profile =
+      new TrapezoidProfile(new TrapezoidProfile.Constraints(1.75, 0.75));
   private TrapezoidProfile.State m_goal = new TrapezoidProfile.State();
   private TrapezoidProfile.State m_setpoint = new TrapezoidProfile.State();
 
@@ -36,13 +38,9 @@ public class Robot extends TimedRobot {
       m_goal = new TrapezoidProfile.State();
     }
 
-    // Create a motion profile with the given maximum velocity and maximum
-    // acceleration constraints for the next setpoint.
-    var profile = new TrapezoidProfile(m_constraints);
-
     // Retrieve the profiled setpoint for the next timestep. This setpoint moves
     // toward the goal while obeying the constraints.
-    m_setpoint = profile.calculate(kDt, m_goal, m_setpoint);
+    m_setpoint = m_profile.calculate(kDt, m_goal, m_setpoint);
 
     // Send setpoint to offboard controller PID
     m_motor.setSetpoint(