diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
index 02cc17d720..a832472d3f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java
@@ -199,6 +199,15 @@ public class ProfiledPIDController implements Sendable {
     m_constraints = constraints;
   }
 
+  /**
+   * Get the velocity and acceleration constraints for this controller.
+   *
+   * @return Velocity and acceleration constraints.
+   */
+  public TrapezoidProfile.Constraints getConstraints() {
+    return m_constraints;
+  }
+
   /**
    * Returns the current setpoint of the ProfiledPIDController.
    *
diff --git a/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h b/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
index 8491118083..4e32c13c6d 100644
--- a/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
+++ b/wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h
@@ -185,6 +185,12 @@ class ProfiledPIDController
    */
   void SetConstraints(Constraints constraints) { m_constraints = constraints; }
 
+  /**
+   * Get the velocity and acceleration constraints for this controller.
+   * @return Velocity and acceleration constraints.
+   */
+  Constraints GetConstraints() { return m_constraints; }
+
   /**
    * Returns the current setpoint of the ProfiledPIDController.
    *