diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index dc2b3f1918..4710670338 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -77,6 +77,11 @@ class WPILibMathShared : public wpi::math::MathShared {
                       args);
   }
 
+  void ReportWarningV(fmt::string_view format, fmt::format_args args) override {
+    frc::ReportErrorV(warn::Warning, __FILE__, __LINE__, __FUNCTION__, format,
+                      args);
+  }
+
   void ReportUsage(wpi::math::MathUsageId id, int count) override {
     switch (id) {
       case wpi::math::MathUsageId::kKinematics_DifferentialDrive:
diff --git a/wpimath/src/main/native/cpp/MathShared.cpp b/wpimath/src/main/native/cpp/MathShared.cpp
index 500f821512..5252e876fc 100644
--- a/wpimath/src/main/native/cpp/MathShared.cpp
+++ b/wpimath/src/main/native/cpp/MathShared.cpp
@@ -12,6 +12,8 @@ namespace {
 class DefaultMathShared : public MathShared {
  public:
   void ReportErrorV(fmt::string_view format, fmt::format_args args) override {}
+  void ReportWarningV(fmt::string_view format, fmt::format_args args) override {
+  }
   void ReportUsage(MathUsageId id, int count) override {}
 };
 }  // namespace
diff --git a/wpimath/src/main/native/include/wpimath/MathShared.h b/wpimath/src/main/native/include/wpimath/MathShared.h
index e161d1a69f..53ef770b7d 100644
--- a/wpimath/src/main/native/include/wpimath/MathShared.h
+++ b/wpimath/src/main/native/include/wpimath/MathShared.h
@@ -25,12 +25,19 @@ class MathShared {
  public:
   virtual ~MathShared() = default;
   virtual void ReportErrorV(fmt::string_view format, fmt::format_args args) = 0;
+  virtual void ReportWarningV(fmt::string_view format,
+                              fmt::format_args args) = 0;
   virtual void ReportUsage(MathUsageId id, int count) = 0;
 
   template <typename S, typename... Args>
   inline void ReportError(const S& format, Args&&... args) {
     ReportErrorV(format, fmt::make_args_checked<Args...>(format, args...));
   }
+
+  template <typename S, typename... Args>
+  inline void ReportWarning(const S& format, Args&&... args) {
+    ReportWarningV(format, fmt::make_args_checked<Args...>(format, args...));
+  }
 };
 
 class MathSharedStore {
@@ -48,6 +55,15 @@ class MathSharedStore {
     ReportErrorV(format, fmt::make_args_checked<Args...>(format, args...));
   }
 
+  static void ReportWarningV(fmt::string_view format, fmt::format_args args) {
+    GetMathShared().ReportWarningV(format, args);
+  }
+
+  template <typename S, typename... Args>
+  static inline void ReportWarning(const S& format, Args&&... args) {
+    ReportWarningV(format, fmt::make_args_checked<Args...>(format, args...));
+  }
+
   static void ReportUsage(MathUsageId id, int count) {
     GetMathShared().ReportUsage(id, count);
   }