diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
index 226fa01bc3..3955ba9c6c 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
@@ -32,7 +32,7 @@ class ProfiledPIDCommand
   using Velocity =
       units::compound_unit<Distance, units::inverse<units::seconds>>;
   using Velocity_t = units::unit_t<Velocity>;
-  using State = frc::TrapezoidProfile<Distance>::State;
+  using State = typename frc::TrapezoidProfile<Distance>::State;
 
  public:
   /**
@@ -139,7 +139,7 @@ class ProfiledPIDCommand
 
  protected:
   frc::ProfiledPIDController<Distance> m_controller;
-  std::function<units::unit_t<Distance>> m_measurement;
+  std::function<Distance_t> m_measurement;
   std::function<State()> m_goal;
   std::function<void(double, State)> m_useOutput;
 };
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
index 41815c6162..757668bedf 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
@@ -25,7 +25,7 @@ class ProfiledPIDSubsystem : public SubsystemBase {
   using Velocity =
       units::compound_unit<Distance, units::inverse<units::seconds>>;
   using Velocity_t = units::unit_t<Velocity>;
-  using State = frc::TrapezoidProfile<Distance>::State;
+  using State = typename frc::TrapezoidProfile<Distance>::State;
 
  public:
   /**
@@ -65,7 +65,7 @@ class ProfiledPIDSubsystem : public SubsystemBase {
    *
    * @return the measurement of the process variable
    */
-  virtual units::meter_t GetMeasurement() = 0;
+  virtual Distance_t GetMeasurement() = 0;
 
   /**
    * Enables the PID control.  Resets the controller.
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
index afa46b1d4f..38b904d88e 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
@@ -30,7 +30,7 @@ class TrapezoidProfileCommand
   using Velocity =
       units::compound_unit<Distance, units::inverse<units::seconds>>;
   using Velocity_t = units::unit_t<Velocity>;
-  using State = frc::TrapezoidProfile<Distance>::State;
+  using State = typename frc::TrapezoidProfile<Distance>::State;
  public:
   /**
    * Creates a new TrapezoidProfileCommand that will execute the given
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
index 66c6bc3a87..92837b6fa7 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
@@ -23,8 +23,8 @@ class TrapezoidProfileSubsystem : public SubsystemBase {
   using Velocity =
       units::compound_unit<Distance, units::inverse<units::seconds>>;
   using Velocity_t = units::unit_t<Velocity>;
-  using State = frc::TrapezoidProfile<Distance>::State;
-  using Constraints = frc::TrapezoidProfile<Distance>::Constraints;
+  using State = typename frc::TrapezoidProfile<Distance>::State;
+  using Constraints = typename frc::TrapezoidProfile<Distance>::Constraints;
  public:
   /**
    * Creates a new TrapezoidProfileSubsystem.