diff --git a/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
index 239a6a31fb..01a4f0337c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
@@ -107,6 +107,39 @@ public final class MathUtil {
     return applyDeadband(value, deadband, 1);
   }
 
+  /**
+   * Returns a zero vector if the given vector is within the specified distance from the origin. The
+   * remaining distance between the deadband and the maximum distance is scaled from the origin to
+   * the maximum distance.
+   *
+   * @param value Value to clip.
+   * @param deadband Distance from origin.
+   * @param maxMagnitude The maximum distance from the origin of the input. Can be infinite.
+   * @param <R> The number of rows in the vector.
+   * @return The value after the deadband is applied.
+   */
+  public static <R extends Num> Vector<R> applyDeadband(
+      Vector<R> value, double deadband, double maxMagnitude) {
+    if (value.norm() < 1e-9) {
+      return value.times(0);
+    }
+    return value.unit().times(applyDeadband(value.norm(), deadband, maxMagnitude));
+  }
+
+  /**
+   * Returns a zero vector if the given vector is within the specified distance from the origin. The
+   * remaining distance between the deadband and a distance of 1.0 is scaled from the origin to a
+   * distance of 1.0.
+   *
+   * @param value Value to clip.
+   * @param deadband Distance from origin.
+   * @param <R> The number of rows in the vector.
+   * @return The value after the deadband is applied.
+   */
+  public static <R extends Num> Vector<R> applyDeadband(Vector<R> value, double deadband) {
+    return applyDeadband(value, deadband, 1);
+  }
+
   /**
    * Raises the input to the power of the given exponent while preserving its sign.
    *
@@ -143,6 +176,42 @@ public final class MathUtil {
     return copySignPow(value, exponent, 1);
   }
 
+  /**
+   * Raises the norm of the input to the power of the given exponent while preserving its direction.
+   *
+   * <p>The function normalizes the norm of the input to the range [0, 1] based on the maximum
+   * distance, raises it to the power of the exponent, then scales the result back to the original
+   * range. This keeps the value in the original max distance and gives consistent curve behavior
+   * regardless of the input norm's scale.
+   *
+   * @param value The input vector to transform.
+   * @param exponent The exponent to apply (e.g. 1.0 = linear, 2.0 = squared curve). Must be
+   *     positive.
+   * @param maxMagnitude The maximum expected distance from origin of input. Must be positive.
+   * @param <R> The number of rows in the vector.
+   * @return The transformed value with the same direction and norm scaled to the input range.
+   */
+  public static <R extends Num> Vector<R> copyDirectionPow(
+      Vector<R> value, double exponent, double maxMagnitude) {
+    if (value.norm() < 1e-9) {
+      return value.times(0);
+    }
+    return value.unit().times(copySignPow(value.norm(), exponent, maxMagnitude));
+  }
+
+  /**
+   * Raises the norm of the input to the power of the given exponent while preserving its direction.
+   *
+   * @param value The input vector to transform.
+   * @param exponent The exponent to apply (e.g. 1.0 = linear, 2.0 = squared curve). Must be
+   *     positive.
+   * @param <R> The number of rows in the vector.
+   * @return The transformed value with the same direction.
+   */
+  public static <R extends Num> Vector<R> copyDirectionPow(Vector<R> value, double exponent) {
+    return copyDirectionPow(value, exponent, 1);
+  }
+
   /**
    * Returns modulus of input.
    *
diff --git a/wpimath/src/main/native/include/frc/MathUtil.h b/wpimath/src/main/native/include/frc/MathUtil.h
index 97705811f9..52fa05df86 100644
--- a/wpimath/src/main/native/include/frc/MathUtil.h
+++ b/wpimath/src/main/native/include/frc/MathUtil.h
@@ -94,15 +94,41 @@ constexpr T ApplyDeadband(T value, T deadband, T maxMagnitude = T{1.0}) {
   }
 }
 
+/**
+ * Returns a zero vector if the given vector is within the specified
+ * distance from the origin. The remaining distance between the deadband and the
+ * maximum distance is scaled from the origin to the maximum distance.
+ *
+ * @param value Value to clip.
+ * @param deadband Distance from origin.
+ * @param maxMagnitude The maximum distance from the origin of the input
+ * (defaults to 1). Can be infinite.
+ * @return The value after the deadband is applied.
+ */
+template <typename T, int N>
+  requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
+Eigen::Vector<T, N> ApplyDeadband(const Eigen::Vector<T, N>& value, T deadband,
+                                  T maxMagnitude = T{1.0}) {
+  if constexpr (std::is_arithmetic_v<T>) {
+    if (value.norm() < T{1e-9}) {
+      return Eigen::Vector<T, N>::Zero();
+    }
+    return value.normalized() *
+           ApplyDeadband(value.norm(), deadband, maxMagnitude);
+  } else {
+    const Eigen::Vector<double, N> asDouble = value.template cast<double>();
+    const Eigen::Vector<double, N> processed =
+        ApplyDeadband(asDouble, deadband.value(), maxMagnitude.value());
+    return processed.template cast<T>();
+  }
+}
+
 /**
  * Raises the input to the power of the given exponent while preserving its
  * sign.
  *
  * The function normalizes the input value to the range [0, 1] based on the
- * maximum magnitude, raises it to the power of the exponent, then scales the
- * result back to the original range and copying the sign. This keeps the value
- * in the original range and gives consistent curve behavior regardless of the
- * input value's scale.
+ * maximum magnitude so that the output stays in the range.
  *
  * This is useful for applying smoother or more aggressive control response
  * curves (e.g. joystick input shaping).
@@ -110,8 +136,8 @@ constexpr T ApplyDeadband(T value, T deadband, T maxMagnitude = T{1.0}) {
  * @param value The input value to transform.
  * @param exponent The exponent to apply (e.g. 1.0 = linear, 2.0 = squared
  * curve). Must be positive.
- * @param maxMagnitude The maximum expected absolute value of input. Must be
- * positive.
+ * @param maxMagnitude The maximum expected absolute value of input (defaults to
+ * 1). Must be positive.
  * @return The transformed value with the same sign and scaled to the input
  * range.
  */
@@ -130,6 +156,42 @@ constexpr T CopySignPow(T value, double exponent, T maxMagnitude = T{1.0}) {
   }
 }
 
+/**
+ * Raises the norm of the input to the power of the given exponent while
+ * preserving its direction.
+ *
+ * The function normalizes the input value to the range [0, 1] based on the
+ * maximum magnitude so that the output stays in the range.
+ *
+ * This is useful for applying smoother or more aggressive control response
+ * curves (e.g. joystick input shaping).
+ *
+ * @param value The input vector to transform.
+ * @param exponent The exponent to apply (e.g. 1.0 = linear, 2.0 = squared
+ * curve). Must be positive.
+ * @param maxMagnitude The maximum expected distance from origin of input
+ * (defaults to 1). Must be positive.
+ * @return The transformed value with the same direction and norm scaled to
+ * the input range.
+ */
+template <typename T, int N>
+  requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
+Eigen::Vector<T, N> CopyDirectionPow(const Eigen::Vector<T, N>& value,
+                                     double exponent, T maxMagnitude = T{1.0}) {
+  if constexpr (std::is_arithmetic_v<T>) {
+    if (value.norm() < T{1e-9}) {
+      return Eigen::Vector<T, N>::Zero();
+    }
+    return value.normalized() *
+           CopySignPow(value.norm(), exponent, maxMagnitude);
+  } else {
+    const Eigen::Vector<double, N> asDouble = value.template cast<double>();
+    const Eigen::Vector<double, N> processed =
+        CopyDirectionPow(asDouble, exponent, maxMagnitude.value());
+    return processed.template cast<T>();
+  }
+}
+
 /**
  * Returns modulus of input.
  *
@@ -279,6 +341,7 @@ constexpr Translation2d SlewRateLimit(const Translation2d& current,
   }
   if (dist > maxVelocity * dt) {
     // Move maximum allowed amount in direction of the difference
+    // NOLINTNEXTLINE(bugprone-integer-division)
     return current + diff * (maxVelocity * dt / dist);
   }
   return next;
@@ -309,6 +372,7 @@ constexpr Translation3d SlewRateLimit(const Translation3d& current,
   }
   if (dist > maxVelocity * dt) {
     // Move maximum allowed amount in direction of the difference
+    // NOLINTNEXTLINE(bugprone-integer-division)
     return current + diff * (maxVelocity * dt / dist);
   }
   return next;
diff --git a/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
index 1fcef74d1f..1c6d725023 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
@@ -72,6 +72,60 @@ class MathUtilTest extends UtilityClassTest<MathUtil> {
     assertEquals(80.0, MathUtil.applyDeadband(100.0, 20, Double.POSITIVE_INFINITY));
   }
 
+  @Test
+  void testApplyDeadband2dUnityScale() {
+    assertEquals(
+        VecBuilder.fill(0.0, 1.0), MathUtil.applyDeadband(VecBuilder.fill(0.0, 1.0), 0.02));
+    assertEquals(
+        VecBuilder.fill(0.0, -1.0), MathUtil.applyDeadband(VecBuilder.fill(0.0, -1.0), 0.02));
+    assertEquals(
+        VecBuilder.fill(-1.0, 0.0), MathUtil.applyDeadband(VecBuilder.fill(-1.0, 0.0), 0.02));
+
+    // == 0
+    assertEquals(
+        VecBuilder.fill(0.0, 0.0), MathUtil.applyDeadband(VecBuilder.fill(0.0, 0.0), 0.02));
+
+    // > 0
+    assertEquals(
+        VecBuilder.fill(0.0, 0.0), MathUtil.applyDeadband(VecBuilder.fill(0.01, 0.0), 0.02));
+    assertEquals(
+        VecBuilder.fill(0.0, 0.0), MathUtil.applyDeadband(VecBuilder.fill(0.02, 0.0), 0.02));
+    assertEquals(
+        VecBuilder.fill((0.03 - 0.02) / (1.0 - 0.02), 0.0),
+        MathUtil.applyDeadband(VecBuilder.fill(0.03, 0.0), 0.02));
+    assertEquals(
+        VecBuilder.fill(1.0, 0.0), MathUtil.applyDeadband(VecBuilder.fill(1.0, 0.0), 0.02));
+  }
+
+  @Test
+  void testApplyDeadband2dArbitraryScale() {
+    assertEquals(
+        VecBuilder.fill(0.0, 2.5), MathUtil.applyDeadband(VecBuilder.fill(0.0, 2.5), 0.02, 2.5));
+    assertEquals(
+        VecBuilder.fill(0.0, -2.5), MathUtil.applyDeadband(VecBuilder.fill(0.0, -2.5), 0.02, 2.5));
+    assertEquals(
+        VecBuilder.fill(-2.5, 0.0), MathUtil.applyDeadband(VecBuilder.fill(-2.5, 0.0), 0.02, 2.5));
+
+    // == 0
+    assertEquals(
+        VecBuilder.fill(0.0, 0.0), MathUtil.applyDeadband(VecBuilder.fill(0.0, 0.0), 0.02, 2.5));
+
+    // > 0
+    assertEquals(
+        VecBuilder.fill(0.0, 0.0), MathUtil.applyDeadband(VecBuilder.fill(0.01, 0.0), 0.02, 2.5));
+    assertEquals(
+        VecBuilder.fill(0.0, 0.0), MathUtil.applyDeadband(VecBuilder.fill(0.02, 0.0), 0.02, 2.5));
+    assertEquals(
+        VecBuilder.fill(2.5, 0.0), MathUtil.applyDeadband(VecBuilder.fill(2.5, 0.0), 0.02, 2.5));
+  }
+
+  @Test
+  void testApplyDeadband2dLargeMaxMagnitude() {
+    assertEquals(
+        VecBuilder.fill(80.0, 0.0),
+        MathUtil.applyDeadband(VecBuilder.fill(100.0, 0.0), 20, Double.POSITIVE_INFINITY));
+  }
+
   @Test
   void testCopySignPow() {
     assertEquals(0.5, MathUtil.copySignPow(0.5, 1.0));
@@ -110,6 +164,77 @@ class MathUtilTest extends UtilityClassTest<MathUtil> {
     assertEquals(-Math.pow(0.8, 0.3) * 100, MathUtil.copySignPow(-80, 0.3, 100.0));
   }
 
+  @Test
+  void testCopyDirectionPow2d() {
+    assertEquals(
+        VecBuilder.fill(0.5, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(0.5, 0.0), 1.0));
+    assertEquals(
+        VecBuilder.fill(-0.5, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(-0.5, 0.0), 1.0));
+
+    assertEquals(
+        VecBuilder.fill(0.25, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(0.5, 0.0), 2.0));
+    assertEquals(
+        VecBuilder.fill(-0.25, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(-0.5, 0.0), 2.0));
+
+    assertEquals(
+        VecBuilder.fill(Math.sqrt(0.5), 0.0),
+        MathUtil.copyDirectionPow(VecBuilder.fill(0.5, 0.0), 0.5));
+    assertEquals(
+        VecBuilder.fill(-Math.sqrt(0.5), 0.0),
+        MathUtil.copyDirectionPow(VecBuilder.fill(-0.5, 0.0), 0.5));
+
+    assertEquals(
+        VecBuilder.fill(0.0, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(0.0, 0.0), 2.0));
+    assertEquals(
+        VecBuilder.fill(1.0, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(1.0, 0.0), 2.0));
+    assertEquals(
+        VecBuilder.fill(-1.0, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(-1.0, 0.0), 2.0));
+
+    assertEquals(
+        VecBuilder.fill(0.0, Math.pow(0.8, 0.3)),
+        MathUtil.copyDirectionPow(VecBuilder.fill(0.0, 0.8), 0.3));
+    assertEquals(
+        VecBuilder.fill(0.0, -Math.pow(0.8, 0.3)),
+        MathUtil.copyDirectionPow(VecBuilder.fill(0.0, -0.8), 0.3));
+  }
+
+  @Test
+  void testCopyDirectionPow2dMaxDistance() {
+    assertEquals(
+        VecBuilder.fill(5.0, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(5.0, 0.0), 1.0, 10.0));
+    assertEquals(
+        VecBuilder.fill(-5.0, 0.0),
+        MathUtil.copyDirectionPow(VecBuilder.fill(-5.0, 0.0), 1.0, 10.0));
+
+    assertEquals(
+        VecBuilder.fill(2.5, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(5.0, 0.0), 2.0, 10.0));
+    assertEquals(
+        VecBuilder.fill(-2.5, 0.0),
+        MathUtil.copyDirectionPow(VecBuilder.fill(-5.0, 0.0), 2.0, 10.0));
+
+    assertEquals(
+        VecBuilder.fill(Math.sqrt(0.5) * 10, 0.0),
+        MathUtil.copyDirectionPow(VecBuilder.fill(5.0, 0.0), 0.5, 10.0));
+    assertEquals(
+        VecBuilder.fill(-Math.sqrt(0.5) * 10, 0.0),
+        MathUtil.copyDirectionPow(VecBuilder.fill(-5.0, 0.0), 0.5, 10.0));
+
+    assertEquals(
+        VecBuilder.fill(0.0, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(0.0, 0.0), 2.0, 5.0));
+    assertEquals(
+        VecBuilder.fill(5.0, 0.0), MathUtil.copyDirectionPow(VecBuilder.fill(5.0, 0.0), 2.0, 5.0));
+    assertEquals(
+        VecBuilder.fill(-5.0, 0.0),
+        MathUtil.copyDirectionPow(VecBuilder.fill(-5.0, 0.0), 2.0, 5.0));
+
+    assertEquals(
+        VecBuilder.fill(0.0, Math.pow(0.8, 0.3) * 100),
+        MathUtil.copyDirectionPow(VecBuilder.fill(0.0, 80.0), 0.3, 100.0));
+    assertEquals(
+        VecBuilder.fill(0.0, -Math.pow(0.8, 0.3) * 100),
+        MathUtil.copyDirectionPow(VecBuilder.fill(0.0, -80.0), 0.3, 100.0));
+  }
+
   @Test
   void testInputModulus() {
     // These tests check error wrapping. That is, the result of wrapping the
diff --git a/wpimath/src/test/native/cpp/MathUtilTest.cpp b/wpimath/src/test/native/cpp/MathUtilTest.cpp
index 1479c0d18f..6e493dca56 100644
--- a/wpimath/src/test/native/cpp/MathUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/MathUtilTest.cpp
@@ -55,8 +55,8 @@ TEST(MathUtilTest, ApplyDeadbandArbitraryScale) {
 
 TEST(MathUtilTest, ApplyDeadbandUnits) {
   // < 0
-  EXPECT_DOUBLE_EQ(
-      -20, frc::ApplyDeadband<units::radian_t>(-20_rad, 1_rad, 20_rad).value());
+  EXPECT_UNITS_EQ(-20_rad,
+                  frc::ApplyDeadband<units::radian_t>(-20_rad, 1_rad, 20_rad));
 }
 
 TEST(MathUtilTest, ApplyDeadbandLargeMaxMagnitude) {
@@ -65,6 +65,72 @@ TEST(MathUtilTest, ApplyDeadbandLargeMaxMagnitude) {
       frc::ApplyDeadband(100.0, 20.0, std::numeric_limits<double>::infinity()));
 }
 
+TEST(MathUtilTest, ApplyDeadband2dUnityScale) {
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {1.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {1.0}}, 0.02));
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {-1.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {-1.0}}, 0.02));
+  EXPECT_EQ((Eigen::Vector2d{{-1.0}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{-1.0}, {0.0}}, 0.02));
+
+  // == 0
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {0.0}}, 0.02));
+
+  // > 0
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.01}, {0.0}}, 0.02));
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.02}, {0.0}}, 0.02));
+  EXPECT_EQ((Eigen::Vector2d{{(0.03 - 0.02) / (1.0 - 0.02)}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.03}, {0.0}}, 0.02));
+  EXPECT_EQ((Eigen::Vector2d{{1.0}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{1.0}, {0.0}}, 0.02));
+}
+
+TEST(MathUtilTest, ApplyDeadband2dArbitraryScale) {
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {2.5}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {2.5}}, 0.02, 2.5));
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {-2.5}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {-2.5}}, 0.02, 2.5));
+  EXPECT_EQ((Eigen::Vector2d{{-2.5}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{-2.5}, {0.0}}, 0.02, 2.5));
+
+  // == 0
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.0}, {0.0}}, 0.02, 2.5));
+
+  // > 0
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.01}, {0.0}}, 0.02, 2.5));
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{0.02}, {0.0}}, 0.02, 2.5));
+  EXPECT_EQ((Eigen::Vector2d{{2.5}, {0.0}}),
+            frc::ApplyDeadband(Eigen::Vector2d{{2.5}, {0.0}}, 0.02, 2.5));
+}
+
+TEST(MathUtilTest, ApplyDeadband2dLargeMaxMagnitude) {
+  EXPECT_EQ((Eigen::Vector2d{{80.0}, {0.0}}),
+            (frc::ApplyDeadband(Eigen::Vector2d{{100.0}, {0.0}}, 20.0,
+                                std::numeric_limits<double>::infinity())));
+}
+
+TEST(MathUtilTest, ApplyDeadband2dUnits) {
+  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 2.5_mps}),
+            frc::ApplyDeadband(
+                Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 2.5_mps},
+                0.02_mps, 2.5_mps));
+  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{1_mps, 0_mps}),
+            frc::ApplyDeadband(
+                Eigen::Vector<units::meters_per_second_t, 2>{1_mps, 0_mps},
+                0.02_mps));
+
+  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 0_mps}),
+            frc::ApplyDeadband(
+                Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 0_mps},
+                0.02_mps, 2.5_mps));
+}
+
 TEST(MathUtilTest, CopySignPow) {
   EXPECT_DOUBLE_EQ(0.5, frc::CopySignPow(0.5, 1.0));
   EXPECT_DOUBLE_EQ(-0.5, frc::CopySignPow(-0.5, 1.0));
@@ -104,20 +170,107 @@ TEST(MathUtilTest, CopySignPowWithMaxMagnitude) {
 }
 
 TEST(MathUtilTest, CopySignPowWithUnits) {
-  EXPECT_DOUBLE_EQ(
-      0, frc::CopySignPow<units::meters_per_second_t>(0_mps, 2.0).value());
-  EXPECT_DOUBLE_EQ(
-      1, frc::CopySignPow<units::meters_per_second_t>(1_mps, 2.0).value());
-  EXPECT_DOUBLE_EQ(
-      -1, frc::CopySignPow<units::meters_per_second_t>(-1_mps, 2.0).value());
+  EXPECT_UNITS_EQ(0_mps,
+                  frc::CopySignPow<units::meters_per_second_t>(0_mps, 2.0));
+  EXPECT_UNITS_EQ(1_mps,
+                  frc::CopySignPow<units::meters_per_second_t>(1_mps, 2.0));
+  EXPECT_UNITS_EQ(-1_mps,
+                  frc::CopySignPow<units::meters_per_second_t>(-1_mps, 2.0));
 
-  EXPECT_DOUBLE_EQ(
-      0.5 * 0.5 * 10,
-      frc::CopySignPow<units::meters_per_second_t>(5_mps, 2.0, 10_mps).value());
-  EXPECT_DOUBLE_EQ(
-      -0.5 * 0.5 * 10,
-      frc::CopySignPow<units::meters_per_second_t>(-5_mps, 2.0, 10_mps)
-          .value());
+  EXPECT_UNITS_EQ(
+      units::meters_per_second_t{0.5 * 0.5 * 10},
+      frc::CopySignPow<units::meters_per_second_t>(5_mps, 2.0, 10_mps));
+  EXPECT_UNITS_EQ(
+      units::meters_per_second_t{-0.5 * 0.5 * 10},
+      frc::CopySignPow<units::meters_per_second_t>(-5_mps, 2.0, 10_mps));
+}
+
+TEST(MathUtilTest, CopyDirectionPow2d) {
+  EXPECT_EQ((Eigen::Vector2d{{0.5}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.5}, {0.0}}, 1.0));
+  EXPECT_EQ((Eigen::Vector2d{{-0.5}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{-0.5}, {0.0}}, 1.0));
+
+  EXPECT_EQ((Eigen::Vector2d{{0.25}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.5}, {0.0}}, 2.0));
+  EXPECT_EQ((Eigen::Vector2d{{-0.25}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{-0.5}, {0.0}}, 2.0));
+
+  EXPECT_EQ((Eigen::Vector2d{{std::sqrt(0.5)}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.5}, {0.0}}, 0.5));
+  EXPECT_EQ((Eigen::Vector2d{{-std::sqrt(0.5)}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{-0.5}, {0.0}}, 0.5));
+
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {0.0}}, 2.0));
+
+  EXPECT_EQ((Eigen::Vector2d{{1.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{1.0}, {0.0}}, 2.0));
+  EXPECT_EQ((Eigen::Vector2d{{-1.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{-1.0}, {0.0}}, 2.0));
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {1.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {1.0}}, 2.0));
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {-1.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {-1.0}}, 2.0));
+
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {std::pow(0.8, 0.3)}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {0.8}}, 0.3));
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {-std::pow(0.8, 0.3)}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {-0.8}}, 0.3));
+}
+
+TEST(MathUtilTest, CopyDirectionPow2dMaxDistance) {
+  EXPECT_EQ((Eigen::Vector2d{{5.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 1.0, 10.0));
+  EXPECT_EQ((Eigen::Vector2d{{-5.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 1.0, 10.0));
+
+  EXPECT_EQ((Eigen::Vector2d{{2.5}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 2.0, 10.0));
+  EXPECT_EQ((Eigen::Vector2d{{-2.5}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 2.0, 10.0));
+
+  EXPECT_EQ((Eigen::Vector2d{{std::sqrt(0.5) * 10.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 0.5, 10.0));
+  EXPECT_EQ((Eigen::Vector2d{{-std::sqrt(0.5) * 10.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 0.5, 10.0));
+
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {0.0}}, 2.0, 5.0));
+  EXPECT_EQ((Eigen::Vector2d{{5.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{5.0}, {0.0}}, 2.0, 5.0));
+  EXPECT_EQ((Eigen::Vector2d{{-5.0}, {0.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{-5.0}, {0.0}}, 2.0, 5.0));
+
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {std::pow(0.8, 0.3) * 100.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {80.0}}, 0.3, 100.0));
+  EXPECT_EQ((Eigen::Vector2d{{0.0}, {-std::pow(0.8, 0.3) * 100.0}}),
+            frc::CopyDirectionPow(Eigen::Vector2d{{0.0}, {-80.0}}, 0.3, 100.0));
+}
+
+TEST(MathUtilTest, CopyDirectionPow2dUnits) {
+  EXPECT_EQ(
+      (Eigen::Vector<units::meters_per_second_t, 2>{1_mps, 0_mps}),
+      frc::CopyDirectionPow(
+          Eigen::Vector<units::meters_per_second_t, 2>{1_mps, 0_mps}, 2.0));
+  EXPECT_EQ(
+      (Eigen::Vector<units::meters_per_second_t, 2>{-1_mps, 0_mps}),
+      frc::CopyDirectionPow(
+          Eigen::Vector<units::meters_per_second_t, 2>{-1_mps, 0_mps}, 2.0));
+
+  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 0_mps}),
+            frc::CopyDirectionPow(
+                Eigen::Vector<units::meters_per_second_t, 2>{0_mps, 0_mps}, 2.0,
+                5_mps));
+
+  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{5_mps, 0_mps}),
+            frc::CopyDirectionPow(
+                Eigen::Vector<units::meters_per_second_t, 2>{5_mps, 0_mps}, 2.0,
+                5_mps));
+  EXPECT_EQ((Eigen::Vector<units::meters_per_second_t, 2>{-5_mps, 0_mps}),
+            frc::CopyDirectionPow(
+                Eigen::Vector<units::meters_per_second_t, 2>{-5_mps, 0_mps},
+                2.0, 5_mps));
 }
 
 TEST(MathUtilTest, InputModulus) {