diff --git a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
index 672dbe61f0..d2944d8589 100644
--- a/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
+++ b/wpiunits/src/main/java/edu/wpi/first/units/MutableMeasure.java
@@ -73,7 +73,7 @@ public interface MutableMeasure<
    * @return the measure
    */
   default MutSelf mut_acc(double raw) {
-    return mut_setBaseUnitMagnitude(magnitude() + raw);
+    return mut_setMagnitude(magnitude() + raw);
   }
 
   /**
@@ -107,7 +107,7 @@ public interface MutableMeasure<
    * @return this measure
    */
   default MutSelf mut_plus(double magnitude, U otherUnit) {
-    return mut_setBaseUnitMagnitude(magnitude() + otherUnit.toBaseUnits(magnitude));
+    return mut_setBaseUnitMagnitude(baseUnitMagnitude() + otherUnit.toBaseUnits(magnitude));
   }
 
   /**
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/MutableMeasureTest.java b/wpiunits/src/test/java/edu/wpi/first/units/MutableMeasureTest.java
new file mode 100644
index 0000000000..4a40455985
--- /dev/null
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MutableMeasureTest.java
@@ -0,0 +1,168 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertSame;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.MutDistance;
+import org.junit.jupiter.api.Test;
+
+class MutableMeasureTest {
+  @Test
+  void testBasics() {
+    DistanceUnit unit = Units.Feet;
+    double magnitude = 10;
+    MutDistance m = unit.mutable(magnitude);
+    assertEquals(unit, m.unit(), "Wrong units");
+    assertEquals(magnitude, m.magnitude(), 0, "Wrong magnitude");
+  }
+
+  @Test
+  void testMultiply() {
+    MutDistance m = Units.Feet.mutable(1);
+    MutDistance m2 = m.mut_times(Units.Value.of(10));
+    assertEquals(10, m.in(Units.Feet), 1e-12);
+    assertSame(m, m2);
+  }
+
+  @Test
+  void testMultiplyScalar() {
+    MutDistance m = Units.Feet.mutable(1);
+    MutDistance m2 = m.mut_times(10);
+    assertEquals(10, m.in(Units.Feet), 1e-12);
+    assertSame(m, m2);
+  }
+
+  @Test
+  void testDivide() {
+    MutDistance m = Units.Meters.mutable(1);
+    MutDistance m2 = m.mut_divide(Units.Value.of(10));
+    assertEquals(0.1, m.magnitude(), 0);
+    assertSame(m, m2);
+  }
+
+  @Test
+  void testDivideScalar() {
+    MutDistance m = Units.Meters.mutable(1);
+    MutDistance m2 = m.mut_divide(10);
+    assertEquals(0.1, m.magnitude(), 0);
+    assertSame(m, m2);
+  }
+
+  @Test
+  void testAdd() {
+    MutDistance m1 = Units.Feet.mutable(1);
+    MutDistance m2 = Units.Inches.mutable(2);
+
+    Distance sum1 = m1.mut_plus(Units.Inches.of(2));
+    assertTrue(sum1.isEquivalent(Units.Feet.of(1 + 2 / 12d)));
+    assertSame(m1, sum1);
+
+    Distance sum2 = m2.mut_plus(Units.Feet.of(1));
+    assertTrue(sum2.isEquivalent(Units.Inches.of(14)));
+    assertSame(m2, sum2);
+  }
+
+  @Test
+  void testAddScalar() {
+    MutDistance m1 = Units.Feet.mutable(1);
+    MutDistance m2 = Units.Inches.mutable(2);
+
+    Distance sum1 = m1.mut_plus(2, Units.Inches);
+    assertTrue(sum1.isEquivalent(Units.Feet.of(1 + 2 / 12d)));
+    assertSame(m1, sum1);
+
+    Distance sum2 = m2.mut_plus(1, Units.Feet);
+    assertTrue(sum2.isEquivalent(Units.Inches.of(14)));
+    assertSame(m2, sum2);
+  }
+
+  @Test
+  void testAcc() {
+    MutDistance m1 = Units.Feet.mutable(1);
+    MutDistance m2 = Units.Inches.mutable(2);
+
+    Distance acc1 = m1.mut_acc(Units.Inches.of(2));
+    assertTrue(acc1.isEquivalent(Units.Feet.of(1 + 2 / 12d)));
+    assertSame(m1, acc1);
+
+    Distance acc2 = m2.mut_acc(Units.Feet.of(1));
+    assertTrue(acc2.isEquivalent(Units.Inches.of(14)));
+    assertSame(m2, acc2);
+  }
+
+  @Test
+  void testAccScalar() {
+    MutDistance m1 = Units.Feet.mutable(1);
+    MutDistance m2 = Units.Inches.mutable(2);
+
+    Distance acc1 = m1.mut_acc(2 / 12d);
+    assertTrue(acc1.isEquivalent(Units.Feet.of(1 + 2 / 12d)));
+    assertSame(m1, acc1);
+
+    Distance acc2 = m2.mut_acc(12);
+    assertTrue(acc2.isEquivalent(Units.Inches.of(14)));
+    assertSame(m2, acc2);
+  }
+
+  @Test
+  void testSubtract() {
+    MutDistance m1 = Units.Feet.mutable(1);
+    MutDistance m2 = Units.Inches.mutable(2);
+
+    Distance sub1 = m1.mut_minus(Units.Inches.of(2));
+    assertTrue(sub1.isEquivalent(Units.Feet.of(1 - 2 / 12d)));
+    assertSame(m1, sub1);
+
+    Distance sub2 = m2.mut_minus(Units.Feet.of(1));
+    assertTrue(sub2.isEquivalent(Units.Inches.of(-10)));
+    assertSame(m2, sub2);
+  }
+
+  @Test
+  void testSubtractScalar() {
+    MutDistance m1 = Units.Feet.mutable(1);
+    MutDistance m2 = Units.Inches.mutable(2);
+
+    Distance sub1 = m1.mut_minus(2, Units.Inches);
+    assertTrue(sub1.isEquivalent(Units.Feet.of(1 - 2 / 12d)));
+    assertSame(m1, sub1);
+
+    Distance sub2 = m2.mut_minus(1, Units.Feet);
+    assertTrue(sub2.isEquivalent(Units.Inches.of(-10)));
+    assertSame(m2, sub2);
+  }
+
+  @Test
+  void testReplace() {
+    MutDistance m1 = Units.Feet.mutable(1);
+    MutDistance m2 = Units.Inches.mutable(2);
+
+    Distance replace1 = m1.mut_replace(Units.Inches.of(2));
+    assertTrue(replace1.isEquivalent(Units.Inches.of(2)));
+    assertSame(m1, replace1);
+
+    Distance replace2 = m2.mut_replace(Units.Feet.of(1));
+    assertTrue(replace2.isEquivalent(Units.Feet.of(1)));
+    assertSame(m2, replace2);
+  }
+
+  @Test
+  void testReplaceScalar() {
+    MutDistance m1 = Units.Feet.mutable(1);
+    MutDistance m2 = Units.Inches.mutable(2);
+
+    Distance replace1 = m1.mut_replace(2, Units.Inches);
+    assertTrue(replace1.isEquivalent(Units.Inches.of(2)));
+    assertSame(m1, replace1);
+
+    Distance replace2 = m2.mut_replace(1, Units.Feet);
+    assertTrue(replace2.isEquivalent(Units.Feet.of(1)));
+    assertSame(m2, replace2);
+  }
+}