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 215f7d0d20..0c6e3346b2 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
@@ -250,4 +250,40 @@ public class DCMotor {
     return new DCMotor(
         4.5, 0.1765, 1.25, 0.13, Units.rotationsPerMinuteToRadiansPerSecond(150.0), numMotors);
   }
+
+  /**
+   * Return a gearbox of Kraken X60 brushless motors.
+   *
+   * @param numMotors Number of motors in the gearbox.
+   * @return a gearbox of Kraken X60 motors.
+   */
+  public static DCMotor getKrakenX60(int numMotors) {
+    // From https://store.ctr-electronics.com/announcing-kraken-x60/
+    return new DCMotor(
+        12, 7.09, 366, 2, Units.rotationsPerMinuteToRadiansPerSecond(6000), numMotors);
+  }
+
+  /**
+   * Return a gearbox of Kraken X60 brushless motors with FOC (Field-Oriented Control) enabled.
+   *
+   * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Kraken X60 FOC enabled motors.
+   */
+  public static DCMotor getKrakenX60Foc(int numMotors) {
+    // From https://store.ctr-electronics.com/announcing-kraken-x60/
+    return new DCMotor(
+        12, 9.37, 483, 2, Units.rotationsPerMinuteToRadiansPerSecond(5800), numMotors);
+  }
+
+  /**
+   * Return a gearbox of Neo Vortex brushless motors.
+   *
+   * @param numMotors Number of motors in the gearbox.
+   * @return a gearbox of Neo Vortex motors.
+   */
+  public static DCMotor getNeoVortex(int numMotors) {
+    // From https://www.revrobotics.com/next-generation-spark-neo/
+    return new DCMotor(
+        12, 3.60, 211, 3.6, Units.rotationsPerMinuteToRadiansPerSecond(6784), numMotors);
+  }
 }
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 19fe15134e..ad711ee3cf 100644
--- a/wpimath/src/main/native/include/frc/system/plant/DCMotor.h
+++ b/wpimath/src/main/native/include/frc/system/plant/DCMotor.h
@@ -211,6 +211,31 @@ class WPILIB_DLLEXPORT DCMotor {
     // From https://www.pololu.com/product/1520/specs
     return DCMotor(4.5_V, 0.1765_Nm, 1.25_A, 0.13_A, 150_rpm, numMotors);
   }
+
+  /**
+   * Return a gearbox of Kraken X60 brushless motors.
+   */
+  static constexpr DCMotor KrakenX60(int numMotors = 1) {
+    // From https://store.ctr-electronics.com/announcing-kraken-x60/
+    return DCMotor(12_V, 7.09_Nm, 366_A, 2_A, 6000_rpm, numMotors);
+  }
+
+  /**
+   * Return a gearbox of Kraken X60 brushless motors with FOC (Field-Oriented
+   * Control) enabled.
+   */
+  static constexpr DCMotor KrakenX60FOC(int numMotors = 1) {
+    // From https://store.ctr-electronics.com/announcing-kraken-x60/
+    return DCMotor(12_V, 9.37_Nm, 483_A, 2_A, 5800_rpm, numMotors);
+  }
+
+  /**
+   * Return a gearbox of Neo Vortex brushless motors.
+   */
+  static constexpr DCMotor NeoVortex(int numMotors = 1) {
+    // From https://www.revrobotics.com/next-generation-spark-neo/
+    return DCMotor(12_V, 3.60_Nm, 211_A, 3.615_A, 6784_rpm, numMotors);
+  }
 };
 
 }  // namespace frc