diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
index 6caefa5d7b..5be61561e4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -173,6 +173,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
    * Returns the radian value of the Rotation2d.
    *
    * @return The radian value of the Rotation2d.
+   * @see edu.wpi.first.math.MathUtil#angleModulus(double) to constrain the angle within (-pi, pi]
    */
   @JsonProperty
   public double getRadians() {
@@ -183,6 +184,8 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
    * Returns the degree value of the Rotation2d.
    *
    * @return The degree value of the Rotation2d.
+   * @see edu.wpi.first.math.MathUtil#inputModulus(double, double, double) to constrain the angle
+   *     within (-180, 180]
    */
   public double getDegrees() {
     return Math.toDegrees(m_value);
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index e40f3facaf..406ef3c15c 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -132,6 +132,7 @@ class WPILIB_DLLEXPORT Rotation2d {
    * Returns the radian value of the rotation.
    *
    * @return The radian value of the rotation.
+   * @see AngleModulus to constrain the angle within (-pi, pi]
    */
   constexpr units::radian_t Radians() const { return m_value; }
 
@@ -139,6 +140,7 @@ class WPILIB_DLLEXPORT Rotation2d {
    * Returns the degree value of the rotation.
    *
    * @return The degree value of the rotation.
+   * @see InputModulus to constrain the angle within (-180, 180]
    */
   constexpr units::degree_t Degrees() const { return m_value; }