diff --git a/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveKinematics.cpp b/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveKinematics.cpp
deleted file mode 100644
index 8301481146..0000000000
--- a/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveKinematics.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-
-using namespace frc;
-
-DifferentialDriveKinematics::DifferentialDriveKinematics(
-    units::meter_t trackWidth)
-    : m_trackWidth(trackWidth) {}
-
-ChassisSpeeds DifferentialDriveKinematics::ToChassisSpeeds(
-    const DifferentialDriveWheelSpeeds& wheelSpeeds) const {
-  return {(wheelSpeeds.left + wheelSpeeds.right) / 2.0, 0_mps,
-          (wheelSpeeds.right - wheelSpeeds.left) / m_trackWidth * 1_rad};
-}
-
-DifferentialDriveWheelSpeeds DifferentialDriveKinematics::ToWheelSpeeds(
-    const ChassisSpeeds& chassisSpeeds) const {
-  return {chassisSpeeds.vx - m_trackWidth / 2 * chassisSpeeds.omega / 1_rad,
-          chassisSpeeds.vx + m_trackWidth / 2 * chassisSpeeds.omega / 1_rad};
-}
diff --git a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
index 34407b94df..7db0485328 100644
--- a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -31,7 +31,8 @@ class DifferentialDriveKinematics {
    * empirical value may be larger than the physical measured value due to
    * scrubbing effects.
    */
-  explicit DifferentialDriveKinematics(units::meter_t trackWidth);
+  constexpr explicit DifferentialDriveKinematics(units::meter_t trackWidth)
+      : m_trackWidth(trackWidth) {}
 
   /**
    * Returns a chassis speed from left and right component velocities using
@@ -40,8 +41,11 @@ class DifferentialDriveKinematics {
    * @param wheelSpeeds The left and right velocities.
    * @return The chassis speed.
    */
-  ChassisSpeeds ToChassisSpeeds(
-      const DifferentialDriveWheelSpeeds& wheelSpeeds) const;
+  constexpr ChassisSpeeds ToChassisSpeeds(
+      const DifferentialDriveWheelSpeeds& wheelSpeeds) const {
+    return {(wheelSpeeds.left + wheelSpeeds.right) / 2.0, 0_mps,
+            (wheelSpeeds.right - wheelSpeeds.left) / m_trackWidth * 1_rad};
+  }
 
   /**
    * Returns left and right component velocities from a chassis speed using
@@ -51,8 +55,11 @@ class DifferentialDriveKinematics {
    * represent the chassis' speed.
    * @return The left and right velocities.
    */
-  DifferentialDriveWheelSpeeds ToWheelSpeeds(
-      const ChassisSpeeds& chassisSpeeds) const;
+  constexpr DifferentialDriveWheelSpeeds ToWheelSpeeds(
+      const ChassisSpeeds& chassisSpeeds) const {
+    return {chassisSpeeds.vx - m_trackWidth / 2 * chassisSpeeds.omega / 1_rad,
+            chassisSpeeds.vx + m_trackWidth / 2 * chassisSpeeds.omega / 1_rad};
+  }
 
  private:
   units::meter_t m_trackWidth;