diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
index 0e7c6d7614..f79b3fc75e 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
@@ -31,11 +31,9 @@ RobotContainer::RobotContainer()
   m_drivetrain.Log();
 
   m_drivetrain.SetDefaultCommand(TankDrive(
-      &m_drivetrain,
       [this] { return m_joy.GetY(frc::GenericHID::JoystickHand::kLeftHand); },
-      [this] {
-        return m_joy.GetY(frc::GenericHID::JoystickHand::kRightHand);
-      }));
+      [this] { return m_joy.GetY(frc::GenericHID::JoystickHand::kRightHand); },
+      &m_drivetrain));
 
   // Configure the button bindings
   ConfigureButtonBindings();
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp
index fed1cdb714..58b1cfe4c1 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp
@@ -9,9 +9,9 @@
 
 #include "Robot.h"
 
-TankDrive::TankDrive(DriveTrain* drivetrain, std::function<double()> left,
-                     std::function<double()> right)
-    : m_drivetrain(drivetrain), m_left(left), m_right(right) {
+TankDrive::TankDrive(std::function<double()> left,
+                     std::function<double()> right, DriveTrain* drivetrain)
+    : m_left(left), m_right(right), m_drivetrain(drivetrain) {
   SetName("TankDrive");
   AddRequirements({m_drivetrain});
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
index 94b3392afa..bdfd592906 100644
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
@@ -17,14 +17,14 @@
  */
 class TankDrive : public frc2::CommandHelper<frc2::CommandBase, TankDrive> {
  public:
-  TankDrive(DriveTrain* drivetrain, std::function<double()> left,
-            std::function<double()> right);
+  TankDrive(std::function<double()> left, std::function<double()> right,
+            DriveTrain* drivetrain);
   void Execute() override;
   bool IsFinished() override;
   void End(bool interrupted) override;
 
  private:
-  DriveTrain* m_drivetrain;
   std::function<double()> m_left;
   std::function<double()> m_right;
+  DriveTrain* m_drivetrain;
 };
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
index 04ff2c1a81..69eb8ae740 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
@@ -67,8 +67,8 @@ public class RobotContainer {
         .putData("Deliver Soda", new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator));
 
     // Assign default commands
-    m_drivetrain.setDefaultCommand(new TankDrive(m_drivetrain, () -> m_joystick.getY(Hand.kLeft),
-        () -> m_joystick.getY(Hand.kRight)));
+    m_drivetrain.setDefaultCommand(new TankDrive(() -> m_joystick.getY(Hand.kLeft),
+        () -> m_joystick.getY(Hand.kRight), m_drivetrain));
 
     // Show what command your subsystem is running on the SmartDashboard
     SmartDashboard.putData(m_drivetrain);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
index 04ce9a08c9..b5c24f2161 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
@@ -25,11 +25,11 @@ public class TankDrive extends CommandBase {
   /**
    * Creates a new TankDrive command.
    *
-   * @param drivetrain The drivetrain subsystem to drive
    * @param left       The control input for the left side of the drive
    * @param right      The control input for the right sight of the drive
+   * @param drivetrain The drivetrain subsystem to drive
    */
-  public TankDrive(DriveTrain drivetrain, DoubleSupplier left, DoubleSupplier right) {
+  public TankDrive(DoubleSupplier left, DoubleSupplier right, DriveTrain drivetrain) {
     m_drivetrain = drivetrain;
     m_left = left;
     m_right = right;