diff --git a/wpilibc/src/main/native/cpp/frc2/command/RamseteCommand.cpp b/wpilibc/src/main/native/cpp/frc2/command/RamseteCommand.cpp
index 0de739e7a0..7be6655bf7 100644
--- a/wpilibc/src/main/native/cpp/frc2/command/RamseteCommand.cpp
+++ b/wpilibc/src/main/native/cpp/frc2/command/RamseteCommand.cpp
@@ -37,7 +37,8 @@ RamseteCommand::RamseteCommand(
       m_rightSpeed(rightSpeed),
       m_leftController(std::make_unique<frc2::PIDController>(leftController)),
       m_rightController(std::make_unique<frc2::PIDController>(rightController)),
-      m_outputVolts(output) {
+      m_outputVolts(output),
+      m_usePID(true) {
   AddRequirements(requirements);
 }
 
@@ -55,7 +56,8 @@ RamseteCommand::RamseteCommand(
       m_kv(0),
       m_ka(0),
       m_kinematics(kinematics),
-      m_outputVel(output) {
+      m_outputVel(output),
+      m_usePID(false) {
   AddRequirements(requirements);
 }
 
@@ -67,8 +69,10 @@ void RamseteCommand::Initialize() {
                          initialState.velocity * initialState.curvature});
   m_timer.Reset();
   m_timer.Start();
-  m_leftController->Reset();
-  m_rightController->Reset();
+  if (m_usePID) {
+    m_leftController->Reset();
+    m_rightController->Reset();
+  }
 }
 
 void RamseteCommand::Execute() {
@@ -78,7 +82,7 @@ void RamseteCommand::Execute() {
   auto targetWheelSpeeds = m_kinematics.ToWheelSpeeds(
       m_controller.Calculate(m_pose(), m_trajectory.Sample(curTime)));
 
-  if (m_leftController.get() != nullptr) {
+  if (m_usePID) {
     auto leftFeedforward =
         m_ks * sgn(targetWheelSpeeds.left) + m_kv * targetWheelSpeeds.left +
         m_ka * (targetWheelSpeeds.left - m_prevSpeeds.left) / dt;
diff --git a/wpilibc/src/main/native/include/frc2/command/RamseteCommand.h b/wpilibc/src/main/native/include/frc2/command/RamseteCommand.h
index 592f194711..82f7835543 100644
--- a/wpilibc/src/main/native/include/frc2/command/RamseteCommand.h
+++ b/wpilibc/src/main/native/include/frc2/command/RamseteCommand.h
@@ -143,5 +143,6 @@ class RamseteCommand : public CommandHelper<CommandBase, RamseteCommand> {
   Timer m_timer;
   units::second_t m_prevTime;
   frc::DifferentialDriveWheelSpeeds m_prevSpeeds;
+  bool m_usePID;
 };
 }  // namespace frc2
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
index 754660c058..e59e81aa0a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -35,10 +35,12 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
  * the PID and feedforward functionality, returning only the raw wheel speeds from the RAMSETE
  * controller.
  */
+@SuppressWarnings("PMD.TooManyFields")
 public class RamseteCommand extends CommandBase {
   private final Timer m_timer = new Timer();
   private DifferentialDriveWheelSpeeds m_prevSpeeds;
   private double m_prevTime;
+  private final boolean m_usePID;
 
   private final Trajectory m_trajectory;
   private final Supplier<Pose2d> m_pose;
@@ -113,6 +115,8 @@ public class RamseteCommand extends CommandBase {
     m_rightController = requireNonNullParam(rightController, "rightController", "RamseteCommand");
     m_output = requireNonNullParam(outputVolts, "outputVolts", "RamseteCommand");
 
+    m_usePID = true;
+
     addRequirements(requirements);
   }
 
@@ -150,6 +154,8 @@ public class RamseteCommand extends CommandBase {
     m_leftController = null;
     m_rightController = null;
 
+    m_usePID = false;
+
     addRequirements(requirements);
   }
 
@@ -164,8 +170,10 @@ public class RamseteCommand extends CommandBase {
                               * initialState.velocityMetersPerSecond));
     m_timer.reset();
     m_timer.start();
-    m_leftController.reset();
-    m_rightController.reset();
+    if (m_usePID) {
+      m_leftController.reset();
+      m_rightController.reset();
+    }
   }
 
   @Override
@@ -182,7 +190,7 @@ public class RamseteCommand extends CommandBase {
     double leftOutput;
     double rightOutput;
 
-    if (m_leftController != null) {
+    if (m_usePID) {
       double leftFeedforward =
           m_ks * Math.signum(leftSpeedSetpoint)
               + m_kv * leftSpeedSetpoint