diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
index cd431f73402..ee0b2c79f06 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
@@ -86,7 +86,8 @@ public double getVoltage(double torqueNm, double speedRadiansPerSec) {
    * @return The speed of the motor.
    */
   public double getSpeed(double torqueNm, double voltageInputVolts) {
-    return voltageInputVolts - 1.0 / KtNMPerAmp * torqueNm * rOhms * KvRadPerSecPerVolt;
+    return voltageInputVolts * KvRadPerSecPerVolt
+        - 1.0 / KtNMPerAmp * torqueNm * rOhms * KvRadPerSecPerVolt;
   }
 
   /**