diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
index e1c6c37f50..c1c30d42d2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
@@ -143,15 +143,6 @@ public class HolonomicDriveController {
     m_enabled = enabled;
   }
 
-  /**
-   * Returns the heading controller.
-   *
-   * @return heading ProfiledPIDController
-   */
-  public ProfiledPIDController getThetaController() {
-    return m_thetaController;
-  }
-
   /**
    * Returns the x controller.
    *
@@ -169,4 +160,13 @@ public class HolonomicDriveController {
   public PIDController getYController() {
     return m_yController;
   }
+
+  /**
+   * Returns the heading controller.
+   *
+   * @return heading ProfiledPIDController
+   */
+  public ProfiledPIDController getThetaController() {
+    return m_thetaController;
+  }
 }
diff --git a/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp b/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
index 64210a73b8..40ffecbb50 100644
--- a/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
+++ b/wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
@@ -80,11 +80,6 @@ void HolonomicDriveController::SetEnabled(bool enabled) {
   m_enabled = enabled;
 }
 
-ProfiledPIDController<units::radian>&
-HolonomicDriveController::getThetaController() {
-  return m_thetaController;
-}
-
 PIDController& HolonomicDriveController::getXController() {
   return m_xController;
 }
@@ -92,3 +87,21 @@ PIDController& HolonomicDriveController::getXController() {
 PIDController& HolonomicDriveController::getYController() {
   return m_yController;
 }
+
+ProfiledPIDController<units::radian>&
+HolonomicDriveController::getThetaController() {
+  return m_thetaController;
+}
+
+PIDController& HolonomicDriveController::GetXController() {
+  return m_xController;
+}
+
+PIDController& HolonomicDriveController::GetYController() {
+  return m_yController;
+}
+
+ProfiledPIDController<units::radian>&
+HolonomicDriveController::GetThetaController() {
+  return m_thetaController;
+}
diff --git a/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h b/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
index 6f9568e72a..942126df2c 100644
--- a/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
+++ b/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
@@ -104,19 +104,43 @@ class WPILIB_DLLEXPORT HolonomicDriveController {
   void SetEnabled(bool enabled);
 
   /**
-   * Returns the rotation ProfiledPIDController
+   * Returns the X PIDController
+   *
+   * @deprecated Use GetXController() instead.
    */
+  [[deprecated("Use GetXController() instead")]]
+  PIDController& getXController();
+
+  /**
+   * Returns the Y PIDController
+   *
+   * @deprecated Use GetYController() instead.
+   */
+  [[deprecated("Use GetYController() instead")]]
+  PIDController& getYController();
+
+  /**
+   * Returns the rotation ProfiledPIDController
+   *
+   * @deprecated Use GetThetaController() instead.
+   */
+  [[deprecated("Use GetThetaController() instead")]]
   ProfiledPIDController<units::radian>& getThetaController();
 
   /**
    * Returns the X PIDController
    */
-  PIDController& getXController();
+  PIDController& GetXController();
 
   /**
    * Returns the Y PIDController
    */
-  PIDController& getYController();
+  PIDController& GetYController();
+
+  /**
+   * Returns the rotation ProfiledPIDController
+   */
+  ProfiledPIDController<units::radian>& GetThetaController();
 
  private:
   Pose2d m_poseError;