diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
index 663ff8a51b..6c98337171 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
@@ -68,6 +68,27 @@ public class ChassisSpeeds {
         omegaRadiansPerSecond);
   }
 
+  /**
+   * Converts a user provided field-relative ChassisSpeeds object into a robot-relative
+   * ChassisSpeeds object.
+   *
+   * @param fieldRelativeSpeeds The ChassisSpeeds object representing the speeds in the field frame
+   *     of reference. Positive x is away from your alliance wall. Positive y is to your left when
+   *     standing behind the alliance wall.
+   * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's angle is
+   *     considered to be zero when it is facing directly away from your alliance station wall.
+   *     Remember that this should be CCW positive.
+   * @return ChassisSpeeds object representing the speeds in the robot's frame of reference.
+   */
+  public static ChassisSpeeds fromFieldRelativeSpeeds(
+      ChassisSpeeds fieldRelativeSpeeds, Rotation2d robotAngle) {
+    return fromFieldRelativeSpeeds(
+        fieldRelativeSpeeds.vxMetersPerSecond,
+        fieldRelativeSpeeds.vyMetersPerSecond,
+        fieldRelativeSpeeds.omegaRadiansPerSecond,
+        robotAngle);
+  }
+
   @Override
   public String toString() {
     return String.format(
diff --git a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
index 7414deca21..37fe768911 100644
--- a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -60,5 +60,26 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
     return {vx * robotAngle.Cos() + vy * robotAngle.Sin(),
             -vx * robotAngle.Sin() + vy * robotAngle.Cos(), omega};
   }
+
+  /**
+   * Converts a user provided field-relative ChassisSpeeds object into a
+   * robot-relative ChassisSpeeds object.
+   *
+   * @param fieldRelativeSpeeds The ChassisSpeeds object representing the speeds
+   *    in the field frame of reference. Positive x is away from your alliance
+   *    wall. Positive y is to your left when standing behind the alliance wall.
+   * @param robotAngle The angle of the robot as measured by a gyroscope. The
+   *    robot's angle is considered to be zero when it is facing directly away
+   *    from your alliance station wall. Remember that this should be CCW
+   *    positive.
+   * @return ChassisSpeeds object representing the speeds in the robot's frame
+   *    of reference.
+   */
+  static ChassisSpeeds FromFieldRelativeSpeeds(
+      const ChassisSpeeds& fieldRelativeSpeeds, const Rotation2d& robotAngle) {
+    return FromFieldRelativeSpeeds(fieldRelativeSpeeds.vx,
+                                   fieldRelativeSpeeds.vy,
+                                   fieldRelativeSpeeds.omega, robotAngle);
+  }
 };
 }  // namespace frc