diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
index 608c735e9e..390c037bbb 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
@@ -21,6 +21,7 @@ import edu.wpi.first.units.Time;
 import edu.wpi.first.units.Velocity;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
+import java.util.Objects;
 
 /**
  * Represents the speed of a robot chassis. Although this class contains similar members compared to
@@ -383,6 +384,28 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
         vxMetersPerSecond / scalar, vyMetersPerSecond / scalar, omegaRadiansPerSecond / scalar);
   }
 
+  @Override
+  public final int hashCode() {
+    return Objects.hash(vxMetersPerSecond, vyMetersPerSecond, omegaRadiansPerSecond);
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+
+    if (!(o instanceof ChassisSpeeds)) {
+      return false;
+    }
+
+    ChassisSpeeds c = (ChassisSpeeds) o;
+
+    return vxMetersPerSecond == c.vxMetersPerSecond
+        && vyMetersPerSecond == c.vyMetersPerSecond
+        && omegaRadiansPerSecond == c.omegaRadiansPerSecond;
+  }
+
   @Override
   public String toString() {
     return String.format(
diff --git a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
index d693b47068..dc490e9b41 100644
--- a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -267,6 +267,15 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
   constexpr ChassisSpeeds operator/(double scalar) const {
     return operator*(1.0 / scalar);
   }
+
+  /**
+   * Compares the ChassisSpeeds with another ChassisSpeed.
+   *
+   * @param other The other ChassisSpeeds.
+   *
+   * @return The result of the comparison. Is true if they are the same.
+   */
+  constexpr bool operator==(const ChassisSpeeds& other) const = default;
 };
 }  // namespace frc