diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
index 97ee2336d1..25ae3f3291 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -5,6 +5,7 @@
 #pragma once
 
 #include <cstddef>
+#include <type_traits>
 
 #include <wpi/SymbolExports.h>
 #include <wpi/array.h>
@@ -146,7 +147,10 @@ class SwerveDriveKinematics {
    * @return The resulting chassis speed.
    */
   template <typename... ModuleStates>
-  ChassisSpeeds ToChassisSpeeds(ModuleStates&&... wheelStates) const;
+  requires(std::is_same_v<std::remove_reference_t<ModuleStates>,
+                          SwerveModuleState>&&...) ChassisSpeeds
+      ToChassisSpeeds(ModuleStates&&... wheelStates)
+  const;
 
   /**
    * Performs forward kinematics to return the resulting chassis state from the
@@ -162,7 +166,7 @@ class SwerveDriveKinematics {
    * @return The resulting chassis speed.
    */
   ChassisSpeeds ToChassisSpeeds(
-      wpi::array<SwerveModuleState, NumModules> moduleStates) const;
+      const wpi::array<SwerveModuleState, NumModules>& moduleStates) const;
 
   /**
    * Performs forward kinematics to return the resulting Twist2d from the
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
index 9a2b5abeeb..8db7f9ce2c 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
@@ -66,8 +66,11 @@ SwerveDriveKinematics<NumModules>::ToSwerveModuleStates(
 
 template <size_t NumModules>
 template <typename... ModuleStates>
-ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
-    ModuleStates&&... wheelStates) const {
+requires(std::is_same_v<std::remove_reference_t<ModuleStates>,
+                        SwerveModuleState>&&...)
+    ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
+        ModuleStates&&... wheelStates)
+const {
   static_assert(sizeof...(wheelStates) == NumModules,
                 "Number of modules is not consistent with number of wheel "
                 "locations provided in constructor.");
@@ -79,7 +82,7 @@ ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
 
 template <size_t NumModules>
 ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
-    wpi::array<SwerveModuleState, NumModules> moduleStates) const {
+    const wpi::array<SwerveModuleState, NumModules>& moduleStates) const {
   Matrixd<NumModules * 2, 1> moduleStateMatrix;
 
   for (size_t i = 0; i < NumModules; ++i) {