diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
index af30cdbbdf..bf50a0c521 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -86,15 +86,6 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     this(ks, kg, kv, 0);
   }
 
-  /**
-   * Returns the static gain in volts.
-   *
-   * @return The static gain in volts.
-   */
-  public double getKs() {
-    return ks;
-  }
-
   /**
    * Sets the static gain.
    *
@@ -104,15 +95,6 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     this.ks = ks;
   }
 
-  /**
-   * Returns the gravity gain in volts.
-   *
-   * @return The gravity gain in volts.
-   */
-  public double getKg() {
-    return kg;
-  }
-
   /**
    * Sets the gravity gain.
    *
@@ -122,15 +104,6 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     this.kg = kg;
   }
 
-  /**
-   * Returns the velocity gain in V/(rad/s).
-   *
-   * @return The velocity gain.
-   */
-  public double getKv() {
-    return kv;
-  }
-
   /**
    * Sets the velocity gain.
    *
@@ -140,6 +113,42 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     this.kv = kv;
   }
 
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(rad/s²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
+  /**
+   * Returns the static gain in volts.
+   *
+   * @return The static gain in volts.
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * Returns the gravity gain in volts.
+   *
+   * @return The gravity gain in volts.
+   */
+  public double getKg() {
+    return kg;
+  }
+
+  /**
+   * Returns the velocity gain in V/(rad/s).
+   *
+   * @return The velocity gain.
+   */
+  public double getKv() {
+    return kv;
+  }
+
   /**
    * Returns the acceleration gain in V/(rad/s²).
    *
@@ -149,15 +158,6 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     return ka;
   }
 
-  /**
-   * Sets the acceleration gain.
-   *
-   * @param ka The acceleration gain in V/(rad/2²).
-   */
-  public void setKa(double ka) {
-    this.ka = ka;
-  }
-
   /**
    * Returns the period in seconds.
    *
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
index 816d2bb086..e33de90b15 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
@@ -86,15 +86,6 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     this(ks, kg, kv, 0);
   }
 
-  /**
-   * Returns the static gain in volts.
-   *
-   * @return The static gain in volts.
-   */
-  public double getKs() {
-    return ks;
-  }
-
   /**
    * Sets the static gain.
    *
@@ -104,15 +95,6 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     this.ks = ks;
   }
 
-  /**
-   * Returns the gravity gain in volts.
-   *
-   * @return The gravity gain in volts.
-   */
-  public double getKg() {
-    return kg;
-  }
-
   /**
    * Sets the gravity gain.
    *
@@ -122,6 +104,42 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     this.kg = kg;
   }
 
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(m/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(m/s²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
+  /**
+   * Returns the static gain in volts.
+   *
+   * @return The static gain in volts.
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * Returns the gravity gain in volts.
+   *
+   * @return The gravity gain in volts.
+   */
+  public double getKg() {
+    return kg;
+  }
+
   /**
    * Returns the velocity gain in V/(m/s).
    *
@@ -131,15 +149,6 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     return kv;
   }
 
-  /**
-   * Sets the velocity gain.
-   *
-   * @param kv The velocity gain in V/(rad/s).
-   */
-  public void setKv(double kv) {
-    this.kv = kv;
-  }
-
   /**
    * Returns the acceleration gain in V/(m/s²).
    *
@@ -149,15 +158,6 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     return ka;
   }
 
-  /**
-   * Sets the acceleration gain.
-   *
-   * @param ka The acceleration gain in V/(rad/2²).
-   */
-  public void setKa(double ka) {
-    this.ka = ka;
-  }
-
   /**
    * Returns the period in seconds.
    *
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
index 73ff6dc342..10540a2e18 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
@@ -83,15 +83,6 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
     this(ks, kv, 0);
   }
 
-  /**
-   * Returns the static gain in volts.
-   *
-   * @return The static gain in volts.
-   */
-  public double getKs() {
-    return ks;
-  }
-
   /**
    * Sets the static gain.
    *
@@ -101,6 +92,33 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
     this.ks = ks;
   }
 
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(units/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(units/2²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
+  /**
+   * Returns the static gain in volts.
+   *
+   * @return The static gain in volts.
+   */
+  public double getKs() {
+    return ks;
+  }
+
   /**
    * Returns the velocity gain in V/(units/s).
    *
@@ -112,15 +130,6 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
     return kv;
   }
 
-  /**
-   * Sets the velocity gain.
-   *
-   * @param kv The velocity gain in V/(rad/s).
-   */
-  public void setKv(double kv) {
-    this.kv = kv;
-  }
-
   /**
    * Returns the acceleration gain in V/(units/s²).
    *
@@ -132,15 +141,6 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
     return ka;
   }
 
-  /**
-   * Sets the acceleration gain.
-   *
-   * @param ka The acceleration gain in V/(rad/2²).
-   */
-  public void setKa(double ka) {
-    this.ka = ka;
-  }
-
   /**
    * Returns the period in seconds.
    *
diff --git a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
index aa524ef936..d6bdc0f81c 100644
--- a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -244,6 +244,34 @@ class WPILIB_DLLEXPORT ArmFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, angle, velocity);
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param kS The static gain.
+   */
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kG The gravity gain.
+   */
+  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
+
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kV The velocity gain.
+   */
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param kA The acceleration gain.
+   */
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+
   /**
    * Returns the static gain.
    *
@@ -251,13 +279,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    */
   constexpr units::volt_t GetKs() const { return kS; }
 
-  /**
-   * Returns the static gain.
-   *
-   * @param kS The static gain.
-   */
-  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
-
   /**
    * Returns the gravity gain.
    *
@@ -265,13 +286,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    */
   constexpr units::volt_t GetKg() const { return kG; }
 
-  /**
-   * Returns the gravity gain.
-   *
-   * @param kG The gravity gain.
-   */
-  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
-
   /**
    * Returns the velocity gain.
    *
@@ -279,13 +293,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    */
   constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
 
-  /**
-   * Returns the velocity gain.
-   *
-   * @param kV The velocity gain.
-   */
-  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
-
   /**
    * Returns the acceleration gain.
    *
@@ -293,13 +300,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    */
   constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
 
-  /**
-   * Returns the acceleration gain.
-   *
-   * @param kA The acceleration gain.
-   */
-  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
-
  private:
   /// The static gain, in volts.
   units::volt_t kS;
diff --git a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
index 68565b0fac..93575276c5 100644
--- a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
@@ -216,6 +216,34 @@ class ElevatorFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, velocity);
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param kS The static gain.
+   */
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kG The gravity gain.
+   */
+  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
+
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kV The velocity gain.
+   */
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param kA The acceleration gain.
+   */
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+
   /**
    * Returns the static gain.
    *
@@ -223,13 +251,6 @@ class ElevatorFeedforward {
    */
   constexpr units::volt_t GetKs() const { return kS; }
 
-  /**
-   * Returns the static gain.
-   *
-   * @param kS The static gain.
-   */
-  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
-
   /**
    * Returns the gravity gain.
    *
@@ -237,13 +258,6 @@ class ElevatorFeedforward {
    */
   constexpr units::volt_t GetKg() const { return kG; }
 
-  /**
-   * Returns the gravity gain.
-   *
-   * @param kG The gravity gain.
-   */
-  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
-
   /**
    * Returns the velocity gain.
    *
@@ -251,13 +265,6 @@ class ElevatorFeedforward {
    */
   constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
 
-  /**
-   * Returns the velocity gain.
-   *
-   * @param kV The velocity gain.
-   */
-  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
-
   /**
    * Returns the acceleration gain.
    *
@@ -265,13 +272,6 @@ class ElevatorFeedforward {
    */
   constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
 
-  /**
-   * Returns the acceleration gain.
-   *
-   * @param kA The acceleration gain.
-   */
-  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
-
  private:
   /// The static gain.
   units::volt_t kS;
diff --git a/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h b/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
index 297bee8003..eb48be1c31 100644
--- a/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
@@ -194,6 +194,27 @@ class SimpleMotorFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, velocity);
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param kS The static gain.
+   */
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kV The velocity gain.
+   */
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param kA The acceleration gain.
+   */
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+
   /**
    * Returns the static gain.
    *
@@ -201,13 +222,6 @@ class SimpleMotorFeedforward {
    */
   constexpr units::volt_t GetKs() const { return kS; }
 
-  /**
-   * Returns the static gain.
-   *
-   * @param kS The static gain.
-   */
-  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
-
   /**
    * Returns the velocity gain.
    *
@@ -215,13 +229,6 @@ class SimpleMotorFeedforward {
    */
   constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
 
-  /**
-   * Returns the velocity gain.
-   *
-   * @param kV The velocity gain.
-   */
-  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
-
   /**
    * Returns the acceleration gain.
    *
@@ -229,13 +236,6 @@ class SimpleMotorFeedforward {
    */
   constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
 
-  /**
-   * Returns the acceleration gain.
-   *
-   * @param kA The acceleration gain.
-   */
-  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
-
   /**
    * Returns the period.
    *