diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
index 6d18846f25..de8346d7dd 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
@@ -82,6 +82,16 @@ public class DCMotor implements ProtobufSerializable, StructSerializable {
     return -1.0 / KvRadPerSecPerVolt / rOhms * speedRadiansPerSec + 1.0 / rOhms * voltageInputVolts;
   }
 
+  /**
+   * Calculate current drawn by motor for a given torque.
+   *
+   * @param torqueNm The torque produced by the motor.
+   * @return The current drawn by the motor.
+   */
+  public double getCurrent(double torqueNm) {
+    return torqueNm / KtNMPerAmp;
+  }
+
   /**
    * Calculate torque produced by the motor with a given current.
    *
diff --git a/wpimath/src/main/native/include/frc/system/plant/DCMotor.h b/wpimath/src/main/native/include/frc/system/plant/DCMotor.h
index a267945247..90dc8299ea 100644
--- a/wpimath/src/main/native/include/frc/system/plant/DCMotor.h
+++ b/wpimath/src/main/native/include/frc/system/plant/DCMotor.h
@@ -84,6 +84,15 @@ class WPILIB_DLLEXPORT DCMotor {
     return -1.0 / Kv / R * speed + 1.0 / R * inputVoltage;
   }
 
+  /**
+   * Returns current drawn by motor for a given torque.
+   *
+   * @param torque The torque produced by the motor.
+   */
+  constexpr units::ampere_t Current(units::newton_meter_t torque) const {
+    return torque / Kt;
+  }
+
   /**
    * Returns torque produced by the motor with a given current.
    *