diff --git a/wpilibc/shared/include/Commands/ConditionalCommand.h b/wpilibc/shared/include/Commands/ConditionalCommand.h
index e7fcb3c836..7453a631ff 100644
--- a/wpilibc/shared/include/Commands/ConditionalCommand.h
+++ b/wpilibc/shared/include/Commands/ConditionalCommand.h
@@ -40,10 +40,9 @@ namespace frc {
  */
 class ConditionalCommand : public Command {
  public:
-  explicit ConditionalCommand(Command* onTrue,
-                              Command* onFalse = new InstantCommand());
+  explicit ConditionalCommand(Command* onTrue, Command* onFalse = nullptr);
   ConditionalCommand(const std::string& name, Command* onTrue,
-                     Command* onFalse = new InstantCommand());
+                     Command* onFalse = nullptr);
   virtual ~ConditionalCommand() = default;
 
  protected:
diff --git a/wpilibc/shared/src/Commands/ConditionalCommand.cpp b/wpilibc/shared/src/Commands/ConditionalCommand.cpp
index 6d36086a50..c72ef15ca3 100644
--- a/wpilibc/shared/src/Commands/ConditionalCommand.cpp
+++ b/wpilibc/shared/src/Commands/ConditionalCommand.cpp
@@ -11,6 +11,17 @@
 
 using namespace frc;
 
+static void RequireAll(Command& command, Command* onTrue, Command* onFalse) {
+  if (onTrue != nullptr) {
+    for (auto requirement : onTrue->GetRequirements())
+      command.Requires(requirement);
+  }
+  if (onFalse != nullptr) {
+    for (auto requirement : onFalse->GetRequirements())
+      command.Requires(requirement);
+  }
+}
+
 /**
  * Creates a new ConditionalCommand with given onTrue and onFalse Commands.
  *
@@ -23,8 +34,7 @@ ConditionalCommand::ConditionalCommand(Command* onTrue, Command* onFalse) {
   m_onTrue = onTrue;
   m_onFalse = onFalse;
 
-  for (auto requirement : m_onTrue->GetRequirements()) Requires(requirement);
-  for (auto requirement : m_onFalse->GetRequirements()) Requires(requirement);
+  RequireAll(*this, onTrue, onFalse);
 }
 
 /**
@@ -42,8 +52,7 @@ ConditionalCommand::ConditionalCommand(const std::string& name, Command* onTrue,
   m_onTrue = onTrue;
   m_onFalse = onFalse;
 
-  for (auto requirement : m_onTrue->GetRequirements()) Requires(requirement);
-  for (auto requirement : m_onFalse->GetRequirements()) Requires(requirement);
+  RequireAll(*this, onTrue, onFalse);
 }
 
 void ConditionalCommand::_Initialize() {
@@ -53,13 +62,15 @@ void ConditionalCommand::_Initialize() {
     m_chosenCommand = m_onFalse;
   }
 
-  /*
-   * This is a hack to make cancelling the chosen command inside a CommandGroup
-   * work properly
-   */
-  m_chosenCommand->ClearRequirements();
+  if (m_chosenCommand != nullptr) {
+    /*
+     * This is a hack to make cancelling the chosen command inside a
+     * CommandGroup work properly
+     */
+    m_chosenCommand->ClearRequirements();
 
-  m_chosenCommand->Start();
+    m_chosenCommand->Start();
+  }
 }
 
 void ConditionalCommand::_Cancel() {
diff --git a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
index f5c443363e..8e41df63d4 100644
--- a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
+++ b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
@@ -47,6 +47,20 @@ public abstract class ConditionalCommand extends Command {
    */
   private Command m_chosenCommand = null;
 
+  private void requireAll() {
+    if (m_onTrue != null) {
+      for (Enumeration e = m_onTrue.getRequirements(); e.hasMoreElements(); ) {
+        requires((Subsystem) e.nextElement());
+      }
+    }
+
+    if (m_onFalse != null) {
+      for (Enumeration e = m_onFalse.getRequirements(); e.hasMoreElements(); ) {
+        requires((Subsystem) e.nextElement());
+      }
+    }
+  }
+
   /**
    * Creates a new ConditionalCommand with given onTrue and onFalse Commands.
    *
@@ -55,7 +69,7 @@ public abstract class ConditionalCommand extends Command {
    * @param onTrue The Command to execute if {@link ConditionalCommand#condition()} returns true
    */
   public ConditionalCommand(Command onTrue) {
-    this(onTrue, new InstantCommand());
+    this(onTrue, null);
   }
 
   /**
@@ -70,13 +84,7 @@ public abstract class ConditionalCommand extends Command {
     m_onTrue = onTrue;
     m_onFalse = onFalse;
 
-    for (Enumeration e = m_onTrue.getRequirements(); e.hasMoreElements(); ) {
-      requires((Subsystem) e.nextElement());
-    }
-
-    for (Enumeration e = m_onFalse.getRequirements(); e.hasMoreElements(); ) {
-      requires((Subsystem) e.nextElement());
-    }
+    requireAll();
   }
 
   /**
@@ -88,7 +96,7 @@ public abstract class ConditionalCommand extends Command {
    * @param onTrue The Command to execute if {@link ConditionalCommand#condition()} returns true
    */
   public ConditionalCommand(String name, Command onTrue) {
-    this(name, onTrue, new InstantCommand());
+    this(name, onTrue, null);
   }
 
   /**
@@ -105,13 +113,7 @@ public abstract class ConditionalCommand extends Command {
     m_onTrue = onTrue;
     m_onFalse = onFalse;
 
-    for (Enumeration e = m_onTrue.getRequirements(); e.hasMoreElements(); ) {
-      requires((Subsystem) e.nextElement());
-    }
-
-    for (Enumeration e = m_onFalse.getRequirements(); e.hasMoreElements(); ) {
-      requires((Subsystem) e.nextElement());
-    }
+    requireAll();
   }
 
   /**
@@ -132,10 +134,15 @@ public abstract class ConditionalCommand extends Command {
       m_chosenCommand = m_onFalse;
     }
 
-    // This is a hack to make cancelling the chosen command inside a CommandGroup work properly
-    m_chosenCommand.clearRequirements();
+    if (m_chosenCommand != null) {
+      /*
+       * This is a hack to make cancelling the chosen command inside a
+       * CommandGroup work properly
+       */
+      m_chosenCommand.clearRequirements();
 
-    m_chosenCommand.start();
+      m_chosenCommand.start();
+    }
   }
 
   @Override