diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
index a1d6237d6d..7f35daeb65 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
@@ -120,8 +120,11 @@ public class RamseteController {
     final double vRef = linearVelocityRefMeters;
     final double omegaRef = angularVelocityRefRadiansPerSecond;
 
+    // k = 2ζ√(ω_ref² + b v_ref²)
     double k = 2.0 * m_zeta * Math.sqrt(Math.pow(omegaRef, 2) + m_b * Math.pow(vRef, 2));
 
+    // v_cmd = v_ref cos(e_θ) + k e_x
+    // ω_cmd = ω_ref + k e_θ + b v_ref sinc(e_θ) e_y
     return new ChassisSpeeds(
         vRef * m_poseError.getRotation().getCos() + k * eX,
         0.0,
diff --git a/wpimath/src/main/native/cpp/controller/RamseteController.cpp b/wpimath/src/main/native/cpp/controller/RamseteController.cpp
index 337739d538..fdd7d63bf8 100644
--- a/wpimath/src/main/native/cpp/controller/RamseteController.cpp
+++ b/wpimath/src/main/native/cpp/controller/RamseteController.cpp
@@ -63,10 +63,13 @@ ChassisSpeeds RamseteController::Calculate(
   const auto& vRef = linearVelocityRef;
   const auto& omegaRef = angularVelocityRef;
 
+  // k = 2ζ√(ω_ref² + b v_ref²)
   auto k = 2.0 * m_zeta *
            units::math::sqrt(units::math::pow<2>(omegaRef) +
                              m_b * units::math::pow<2>(vRef));
 
+  // v_cmd = v_ref cos(e_θ) + k e_x
+  // ω_cmd = ω_ref + k e_θ + b v_ref sinc(e_θ) e_y
   return ChassisSpeeds{vRef * m_poseError.Rotation().Cos() + k * eX, 0_mps,
                        omegaRef + k * eTheta + m_b * vRef * Sinc(eTheta) * eY};
 }