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 48c3a37190f..1c3800d101f 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
@@ -91,7 +91,7 @@ public Config(
         Time timeout,
         Consumer<State> recordState) {
       m_rampRate = rampRate != null ? rampRate : Volts.of(1).per(Second);
-      m_stepVoltage = stepVoltage != null ? stepVoltage : Volts.of(7);
+      m_stepVoltage = stepVoltage != null ? stepVoltage : Volts.of(4);
       m_timeout = timeout != null ? timeout : Seconds.of(10);
       m_recordState = recordState;
     }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/sysid/SysIdRoutine.h b/wpilibNewCommands/src/main/native/include/frc2/command/sysid/SysIdRoutine.h
index 4ccfd41328d..cb98be4ab27 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/sysid/SysIdRoutine.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/sysid/SysIdRoutine.h
@@ -27,7 +27,7 @@ class Config {
   ramp_rate_t m_rampRate{1_V / 1_s};
 
   /// The step voltage output used for dynamic test routines.
-  units::volt_t m_stepVoltage{7_V};
+  units::volt_t m_stepVoltage{4_V};
 
   /// Safety timeout for the test routine commands.
   units::second_t m_timeout{10_s};
@@ -53,7 +53,7 @@ class Config {
          std::optional<units::volt_t> stepVoltage,
          std::optional<units::second_t> timeout,
          std::function<void(frc::sysid::State)> recordState)
-      : m_recordState{recordState} {
+      : m_recordState{std::move(recordState)} {
     if (rampRate) {
       m_rampRate = rampRate.value();
     }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java
index 48b0ba89a0b..48b6a50de76 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/sysid/SysIdRoutineTest.java
@@ -127,7 +127,7 @@ void testsOutputCorrectVoltage() {
     runCommand(m_dynamicForward);
     orderCheck = inOrder(m_mechanism);
 
-    orderCheck.verify(m_mechanism, atLeastOnce()).drive(Volts.of(7));
+    orderCheck.verify(m_mechanism, atLeastOnce()).drive(Volts.of(4));
     orderCheck.verify(m_mechanism).drive(Volts.of(0));
     orderCheck.verify(m_mechanism, never()).drive(any());
 
@@ -136,7 +136,7 @@ void testsOutputCorrectVoltage() {
     orderCheck = inOrder(m_mechanism);
 
     runCommand(m_dynamicReverse);
-    orderCheck.verify(m_mechanism, atLeastOnce()).drive(Volts.of(-7));
+    orderCheck.verify(m_mechanism, atLeastOnce()).drive(Volts.of(-4));
     orderCheck.verify(m_mechanism).drive(Volts.of(0));
     orderCheck.verify(m_mechanism, never()).drive(any());
   }
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp
index ae0b9a2241e..1cc6ba93307 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp
@@ -165,14 +165,14 @@ TEST_F(SysIdRoutineTest, OutputCorrectVoltage) {
   sentVoltages.clear();
 
   RunCommand(std::move(m_dynamicForward));
-  expectedVoltages = std::vector<units::volt_t>{7_V, 0_V};
+  expectedVoltages = std::vector<units::volt_t>{4_V, 0_V};
   EXPECT_NEAR_UNITS(expectedVoltages[0], sentVoltages[0], 1e-6_V);
   EXPECT_NEAR_UNITS(expectedVoltages[1], sentVoltages[1], 1e-6_V);
   currentStateList.clear();
   sentVoltages.clear();
 
   RunCommand(std::move(m_dynamicReverse));
-  expectedVoltages = std::vector<units::volt_t>{-7_V, 0_V};
+  expectedVoltages = std::vector<units::volt_t>{-4_V, 0_V};
   EXPECT_NEAR_UNITS(expectedVoltages[0], sentVoltages[0], 1e-6_V);
   EXPECT_NEAR_UNITS(expectedVoltages[1], sentVoltages[1], 1e-6_V);
   currentStateList.clear();