diff --git a/wpilibc/src/main/native/include/frc/interfaces/Gyro.h b/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
index b74a3cf5d6..7e322c4313 100644
--- a/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
+++ b/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
@@ -66,10 +66,6 @@ class Gyro {
   /**
    * Return the heading of the robot as a Rotation2d.
    *
-   * The angle is continuous, that is it will continue from 360 to 361 degrees.
-   * This allows algorithms that wouldn't want to see a discontinuity in the
-   * gyro output as it sweeps past from 360 to 0 on the second time around.
-   *
    * The angle is expected to increase as the gyro turns counterclockwise when
    * looked at from the top. It needs to follow the NWU axis convention.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
index 27377be03e..1d1c919d57 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
@@ -52,10 +52,6 @@ public interface Gyro extends AutoCloseable {
   /**
    * Return the heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
    *
-   * <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
-   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
-   * 360 to 0 on the second time around.
-   *
    * <p>The angle is expected to increase as the gyro turns counterclockwise when looked at from the
    * top. It needs to follow the NWU axis convention.
    *
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
index b4bbe0042c..8845ea5f9b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -19,13 +19,11 @@ import java.util.Objects;
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Rotation2d implements Interpolatable<Rotation2d> {
-  private final double m_value;
   private final double m_cos;
   private final double m_sin;
 
   /** Constructs a Rotation2d with a default angle of 0 degrees. */
   public Rotation2d() {
-    m_value = 0.0;
     m_cos = 1.0;
     m_sin = 0.0;
   }
@@ -37,9 +35,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
    */
   @JsonCreator
   public Rotation2d(@JsonProperty(required = true, value = "radians") double value) {
-    m_value = value;
-    m_cos = Math.cos(value);
-    m_sin = Math.sin(value);
+    this(Math.cos(value), Math.sin(value));
   }
 
   /**
@@ -57,7 +53,6 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
       m_sin = 0.0;
       m_cos = 1.0;
     }
-    m_value = Math.atan2(m_sin, m_cos);
   }
 
   /**
@@ -123,7 +118,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
    * @return The inverse of the current rotation.
    */
   public Rotation2d unaryMinus() {
-    return new Rotation2d(-m_value);
+    return new Rotation2d(m_cos, -m_sin);
   }
 
   /**
@@ -133,7 +128,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
    * @return The new scaled Rotation2d.
    */
   public Rotation2d times(double scalar) {
-    return new Rotation2d(m_value * scalar);
+    return new Rotation2d(getRadians() * scalar);
   }
 
   /**
@@ -166,22 +161,22 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
   }
 
   /**
-   * Returns the radian value of the Rotation2d.
+   * Returns the radian value of the Rotation2d within (-pi, pi].
    *
    * @return The radian value of the Rotation2d.
    */
   @JsonProperty
   public double getRadians() {
-    return m_value;
+    return Math.atan2(m_sin, m_cos);
   }
 
   /**
-   * Returns the degree value of the Rotation2d.
+   * Returns the degree value of the Rotation2d within (-180, 180].
    *
    * @return The degree value of the Rotation2d.
    */
   public double getDegrees() {
-    return Math.toDegrees(m_value);
+    return Math.toDegrees(getRadians());
   }
 
   /**
@@ -190,7 +185,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
    * @return The number of rotations of the Rotation2d.
    */
   public double getRotations() {
-    return Units.radiansToRotations(m_value);
+    return Units.radiansToRotations(getRadians());
   }
 
   /**
@@ -222,7 +217,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
 
   @Override
   public String toString() {
-    return String.format("Rotation2d(Rads: %.2f, Deg: %.2f)", m_value, Math.toDegrees(m_value));
+    return String.format("Rotation2d(Rads: %.2f, Deg: %.2f)", getRadians(), getDegrees());
   }
 
   /**
@@ -242,7 +237,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
 
   @Override
   public int hashCode() {
-    return Objects.hash(m_value);
+    return Objects.hash(getRadians());
   }
 
   @Override
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index 3a4ea4d70e..11074af9a8 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -132,18 +132,18 @@ class WPILIB_DLLEXPORT Rotation2d {
   constexpr Rotation2d RotateBy(const Rotation2d& other) const;
 
   /**
-   * Returns the radian value of the rotation.
+   * Returns the radian value of the rotation within (-pi, pi].
    *
    * @return The radian value of the rotation.
    */
-  constexpr units::radian_t Radians() const { return m_value; }
+  constexpr units::radian_t Radians() const;
 
   /**
-   * Returns the degree value of the rotation.
+   * Returns the degree value of the rotation within (-180, 180].
    *
    * @return The degree value of the rotation.
    */
-  constexpr units::degree_t Degrees() const { return m_value; }
+  constexpr units::degree_t Degrees() const;
 
   /**
    * Returns the cosine of the rotation.
@@ -167,7 +167,6 @@ class WPILIB_DLLEXPORT Rotation2d {
   constexpr double Tan() const { return Sin() / Cos(); }
 
  private:
-  units::radian_t m_value = 0_rad;
   double m_cos = 1;
   double m_sin = 0;
 };
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.inc b/wpimath/src/main/native/include/frc/geometry/Rotation2d.inc
index ac3f1f5e59..5399c89f90 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.inc
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.inc
@@ -13,11 +13,10 @@
 namespace frc {
 
 constexpr Rotation2d::Rotation2d(units::radian_t value)
-    : m_value(value),
-      m_cos(std::is_constant_evaluated() ? gcem::cos(value.to<double>())
-                                         : std::cos(value.to<double>())),
-      m_sin(std::is_constant_evaluated() ? gcem::sin(value.to<double>())
-                                         : std::sin(value.to<double>())) {}
+    : Rotation2d(std::is_constant_evaluated() ? gcem::cos(value.to<double>())
+                                              : std::cos(value.to<double>()),
+                 std::is_constant_evaluated() ? gcem::sin(value.to<double>())
+                                              : std::sin(value.to<double>())) {}
 
 constexpr Rotation2d::Rotation2d(units::degree_t value)
     : Rotation2d(units::radian_t{value}) {}
@@ -31,17 +30,14 @@ constexpr Rotation2d::Rotation2d(double x, double y) {
     m_sin = 0.0;
     m_cos = 1.0;
   }
-  m_value =
-      units::radian_t{std::is_constant_evaluated() ? gcem::atan2(m_sin, m_cos)
-                                                   : std::atan2(m_sin, m_cos)};
 }
 
 constexpr Rotation2d Rotation2d::operator-() const {
-  return Rotation2d{-m_value};
+  return Rotation2d{m_cos, -m_sin};
 }
 
 constexpr Rotation2d Rotation2d::operator*(double scalar) const {
-  return Rotation2d(m_value * scalar);
+  return Rotation2d(Radians() * scalar);
 }
 
 constexpr Rotation2d Rotation2d::operator+(const Rotation2d& other) const {
@@ -71,4 +67,14 @@ constexpr Rotation2d Rotation2d::RotateBy(const Rotation2d& other) const {
           Cos() * other.Sin() + Sin() * other.Cos()};
 }
 
+constexpr units::radian_t Rotation2d::Radians() const {
+  return units::radian_t{std::is_constant_evaluated()
+                             ? gcem::atan2(m_sin, m_cos)
+                             : std::atan2(m_sin, m_cos)};
+}
+
+constexpr units::degree_t Rotation2d::Degrees() const {
+  return Radians();
+}
+
 }  // namespace frc
diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java
index f960e493cb..c6e75d4741 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java
@@ -13,6 +13,15 @@ import org.junit.jupiter.api.Test;
 class Rotation2dTest {
   private static final double kEpsilon = 1E-9;
 
+  @Test
+  void testInScope() {
+    var rot1 = Rotation2d.fromRadians(Math.PI * 5 / 2);
+    var rot2 = Rotation2d.fromRadians(Math.PI * 7 / 2);
+
+    assertEquals(Math.PI / 2, rot1.getRadians(), kEpsilon);
+    assertEquals(-Math.PI / 2, rot2.getRadians(), kEpsilon);
+  }
+
   @Test
   void testRadiansToDegrees() {
     var rot1 = Rotation2d.fromRadians(Math.PI / 3);
@@ -59,6 +68,21 @@ class Rotation2dTest {
     assertEquals(40.0, rot1.minus(rot2).getDegrees(), kEpsilon);
   }
 
+  @Test
+  void testUnaryMinus() {
+    var rot = Rotation2d.fromDegrees(20.0);
+
+    assertEquals(-20.0, rot.unaryMinus().getDegrees(), kEpsilon);
+  }
+
+  @Test
+  void testMultiply() {
+    var rot = Rotation2d.fromDegrees(10.0);
+
+    assertEquals(30.0, rot.times(3.0).getDegrees(), kEpsilon);
+    assertEquals(50.0, rot.times(41.0).getDegrees(), kEpsilon);
+  }
+
   @Test
   void testEquality() {
     var rot1 = Rotation2d.fromDegrees(43.0);
diff --git a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
index 3fdd37a3ff..25cbecf9b6 100644
--- a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
@@ -10,6 +10,16 @@
 
 using namespace frc;
 
+TEST(Rotation2dTest, InScope) {
+  const auto rot1 = Rotation2d{units::radian_t{std::numbers::pi * 5 / 2}};
+  const auto rot2 = Rotation2d{units::radian_t{std::numbers::pi * 7 / 2}};
+  const auto rot3 = Rotation2d{270_deg};
+
+  EXPECT_DOUBLE_EQ(std::numbers::pi / 2, rot1.Radians().value());
+  EXPECT_DOUBLE_EQ(-std::numbers::pi / 2, rot2.Radians().value());
+  EXPECT_DOUBLE_EQ(-90, rot3.Degrees().value());
+}
+
 TEST(Rotation2dTest, RadiansToDegrees) {
   const Rotation2d rot1{units::radian_t{std::numbers::pi / 3.0}};
   const Rotation2d rot2{units::radian_t{std::numbers::pi / 4.0}};
@@ -66,8 +76,8 @@ TEST(Rotation2dTest, Inequality) {
 
 TEST(Rotation2dTest, Constexpr) {
   constexpr Rotation2d defaultCtor;
-  constexpr Rotation2d radianCtor{5_rad};
-  constexpr Rotation2d degreeCtor{270_deg};
+  constexpr Rotation2d radianCtor{0.25_rad};
+  constexpr Rotation2d degreeCtor{-90_deg};
   constexpr Rotation2d rotation45{45_deg};
   constexpr Rotation2d cartesianCtor{3.5, -3.5};
 
@@ -76,9 +86,9 @@ TEST(Rotation2dTest, Constexpr) {
   constexpr auto subtracted = cartesianCtor - degreeCtor;
 
   static_assert(defaultCtor.Radians() == 0_rad);
-  static_assert(degreeCtor.Degrees() == 270_deg);
-  static_assert(negated.Radians() == (-5_rad));
-  static_assert(multiplied.Radians() == 10_rad);
+  static_assert(degreeCtor.Degrees() == -90_deg);
+  static_assert(negated.Radians() == -0.25_rad);
+  static_assert(multiplied.Radians() == 0.5_rad);
   static_assert(subtracted == rotation45);
   static_assert(radianCtor != degreeCtor);
 }