diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
index 6a049a6021..6bf9dda0c6 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutine.java
@@ -214,14 +214,16 @@ public class SysIdRoutine extends SysIdRoutineLog {
    * @return A command to run the test.
    */
   public Command quasistatic(Direction direction) {
-    Timer timer = new Timer();
-    double outputSign = direction == Direction.kForward ? 1.0 : -1.0;
-    State state =
-        Map.ofEntries(
-                entry(Direction.kForward, State.kQuasistaticForward),
-                entry(Direction.kReverse, State.kQuasistaticReverse))
-            .get(direction);
+    State state;
+    if (direction == Direction.kForward) {
+      state = State.kQuasistaticForward;
+    } else { // if (direction == Direction.kReverse) {
+      state = State.kQuasistaticReverse;
+    }
 
+    double outputSign = direction == Direction.kForward ? 1.0 : -1.0;
+
+    Timer timer = new Timer();
     return m_mechanism
         .m_subsystem
         .runOnce(timer::start)
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
index c3a6ce0a7f..ea95db029a 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
@@ -4,14 +4,18 @@
 
 #include "frc2/command/sysid/SysIdRoutine.h"
 
+#include <frc/sysid/SysIdRoutineLog.h>
+
 using namespace frc2::sysid;
 
 frc2::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
-  std::unordered_map<Direction, frc::sysid::State> stateOptions{
-      {Direction::kForward, frc::sysid::State::kQuasistaticForward},
-      {Direction::kReverse, frc::sysid::State::kQuasistaticReverse},
-  };
-  frc::sysid::State state = stateOptions[direction];
+  frc::sysid::State state;
+  if (direction == Direction::kForward) {
+    state = frc::sysid::State::kQuasistaticForward;
+  } else {  // if (direction == Direction::kReverse) {
+    state = frc::sysid::State::kQuasistaticReverse;
+  }
+
   double outputSign = direction == Direction::kForward ? 1.0 : -1.0;
 
   return m_mechanism.m_subsystem
@@ -39,11 +43,13 @@ frc2::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
 }
 
 frc2::CommandPtr SysIdRoutine::Dynamic(Direction direction) {
-  std::unordered_map<Direction, frc::sysid::State> stateOptions{
-      {Direction::kForward, frc::sysid::State::kDynamicForward},
-      {Direction::kReverse, frc::sysid::State::kDynamicReverse},
-  };
-  frc::sysid::State state = stateOptions[direction];
+  frc::sysid::State state;
+  if (direction == Direction::kForward) {
+    state = frc::sysid::State::kDynamicForward;
+  } else {  // if (direction == Direction::kReverse) {
+    state = frc::sysid::State::kDynamicReverse;
+  }
+
   double outputSign = direction == Direction::kForward ? 1.0 : -1.0;
 
   return m_mechanism.m_subsystem
diff --git a/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h b/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
index 117d120870..7da22f4dc7 100644
--- a/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
+++ b/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
@@ -6,7 +6,6 @@
 
 #include <string>
 #include <string_view>
-#include <unordered_map>
 
 #include <units/acceleration.h>
 #include <units/angle.h>