diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
index b809790536..9b0bef467e 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
@@ -127,11 +127,7 @@ public class LTVDifferentialDriveController {
             .times(-1.0)
             .get(0, 0);
 
-    var x = new Matrix<>(Nat.N5(), Nat.N1());
     for (double velocity = -maxV; velocity < maxV; velocity += 0.01) {
-      x.set(State.kLeftVelocity.value, 0, velocity);
-      x.set(State.kRightVelocity.value, 0, velocity);
-
       // The DARE is ill-conditioned if the velocity is close to zero, so don't
       // let the system stop.
       if (Math.abs(velocity) < 1e-4) {
diff --git a/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp b/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
index cd29dedf1c..a249344607 100644
--- a/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
+++ b/wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
@@ -59,11 +59,7 @@ LTVDifferentialDriveController::LTVDifferentialDriveController(
   units::meters_per_second_t maxV{
       -plant.A().householderQr().solve(plant.B() * Vectord<2>{12.0, 12.0})(0)};
 
-  Vectord<5> x = Vectord<5>::Zero();
   for (auto velocity = -maxV; velocity < maxV; velocity += 0.01_mps) {
-    x(State::kLeftVelocity) = velocity.value();
-    x(State::kRightVelocity) = velocity.value();
-
     // The DARE is ill-conditioned if the velocity is close to zero, so don't
     // let the system stop.
     if (units::math::abs(velocity) < 1e-4_mps) {