diff --git a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
index 91aeef1632..fd41d15ead 100644
--- a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
@@ -11,6 +11,7 @@
 
 #include "DifferentialDriveKinematics.h"
 #include "frc/geometry/Pose2d.h"
+#include "frc2/Timer.h"
 
 namespace frc {
 /**
@@ -86,9 +87,7 @@ class DifferentialDriveOdometry {
    */
   const Pose2d& Update(const Rotation2d& angle,
                        const DifferentialDriveWheelSpeeds& wheelSpeeds) {
-    const auto now = std::chrono::system_clock::now().time_since_epoch();
-    units::second_t time{now};
-    return UpdateWithTime(time, angle, wheelSpeeds);
+    return UpdateWithTime(frc2::Timer::GetFPGATimestamp(), angle, wheelSpeeds);
   }
 
  private:
diff --git a/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h b/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
index 098b7ff121..e8816e13fa 100644
--- a/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
@@ -12,6 +12,7 @@
 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
 #include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+#include "frc2/Timer.h"
 
 namespace frc {
 
@@ -84,9 +85,7 @@ class MecanumDriveOdometry {
    */
   const Pose2d& Update(const Rotation2d& angle,
                        MecanumDriveWheelSpeeds wheelSpeeds) {
-    const auto now = std::chrono::system_clock::now().time_since_epoch();
-    units::second_t time{now};
-    return UpdateWithTime(time, angle, wheelSpeeds);
+    return UpdateWithTime(frc2::Timer::GetFPGATimestamp(), angle, wheelSpeeds);
   }
 
  private:
diff --git a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
index 2d7af7f70d..1dbe1783fa 100644
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
@@ -16,6 +16,7 @@
 #include "SwerveDriveKinematics.h"
 #include "SwerveModuleState.h"
 #include "frc/geometry/Pose2d.h"
+#include "frc2/Timer.h"
 
 namespace frc {
 
@@ -95,9 +96,8 @@ class SwerveDriveOdometry {
   template <typename... ModuleStates>
   const Pose2d& Update(const Rotation2d& angle,
                        ModuleStates&&... moduleStates) {
-    const auto now = std::chrono::system_clock::now().time_since_epoch();
-    units::second_t time{now};
-    return UpdateWithTime(time, angle, moduleStates...);
+    return UpdateWithTime(frc2::Timer::GetFPGATimestamp(), angle,
+                          moduleStates...);
   }
 
  private:
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
index b63f7265f0..0f411ca95d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
@@ -7,6 +7,7 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Twist2d;
@@ -116,7 +117,7 @@ public class DifferentialDriveOdometry {
    */
   public Pose2d update(Rotation2d angle,
                        DifferentialDriveWheelSpeeds wheelSpeeds) {
-    return updateWithTime(System.currentTimeMillis() / 1000.0,
+    return updateWithTime(Timer.getFPGATimestamp(),
         angle, wheelSpeeds);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
index 890cb9a0af..3ea8fff0ce 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
@@ -7,6 +7,7 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Twist2d;
@@ -109,7 +110,7 @@ public class MecanumDriveOdometry {
    */
   public Pose2d update(Rotation2d angle,
                        MecanumDriveWheelSpeeds wheelSpeeds) {
-    return updateWithTime(System.currentTimeMillis() / 1000.0, angle,
+    return updateWithTime(Timer.getFPGATimestamp(), angle,
         wheelSpeeds);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
index e33c7f532d..2cfea4eaca 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
@@ -7,6 +7,7 @@
 
 package edu.wpi.first.wpilibj.kinematics;
 
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Twist2d;
@@ -113,6 +114,6 @@ public class SwerveDriveOdometry {
    * @return The new pose of the robot.
    */
   public Pose2d update(Rotation2d angle, SwerveModuleState... moduleStates) {
-    return updateWithTime(System.currentTimeMillis() / 1000.0, angle, moduleStates);
+    return updateWithTime(Timer.getFPGATimestamp(), angle, moduleStates);
   }
 }