diff --git a/docs/build.gradle b/docs/build.gradle
index f18433901a..64ac63b3c7 100644
--- a/docs/build.gradle
+++ b/docs/build.gradle
@@ -206,6 +206,7 @@ task generateJavaDocs(type: Javadoc) {
             "-edu.wpi.first.math.system.plant.proto," +
             "-edu.wpi.first.math.system.plant.struct," +
             "-edu.wpi.first.math.trajectory.proto," +
+            "-edu.wpi.first.math.trajectory.struct," +
             // The .measure package contains generated source files for which automatic javadoc
             // generation is very difficult to do meaningfully.
             "-edu.wpi.first.units.measure", true)
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
index db6f8f7a1c..abb811b781 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.math.trajectory;
 
+import edu.wpi.first.math.trajectory.struct.ExponentialProfileStateStruct;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /**
@@ -128,7 +130,10 @@ public class ExponentialProfile {
   }
 
   /** Profile state. */
-  public static class State {
+  public static class State implements StructSerializable {
+    /** The struct that serializes this class. */
+    public static final ExponentialProfileStateStruct struct = new ExponentialProfileStateStruct();
+
     /** The position at this state. */
     public double position;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
index c94f28ba13..f3de310944 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
@@ -6,6 +6,7 @@ package edu.wpi.first.math.trajectory;
 
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
+import edu.wpi.first.math.trajectory.struct.TrapezoidProfileStateStruct;
 import java.util.Objects;
 
 /**
@@ -76,6 +77,9 @@ public class TrapezoidProfile {
 
   /** Profile state. */
   public static class State {
+    /** The struct used to serialize this class. */
+    public static final TrapezoidProfileStateStruct struct = new TrapezoidProfileStateStruct();
+
     /** The position at this state. */
     public double position;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStruct.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStruct.java
new file mode 100644
index 0000000000..55e7557380
--- /dev/null
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStruct.java
@@ -0,0 +1,42 @@
+// 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.math.trajectory.struct;
+
+import edu.wpi.first.math.trajectory.ExponentialProfile;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
+
+public class ExponentialProfileStateStruct implements Struct<ExponentialProfile.State> {
+  @Override
+  public Class<ExponentialProfile.State> getTypeClass() {
+    return ExponentialProfile.State.class;
+  }
+
+  @Override
+  public String getTypeName() {
+    return "ExponentialProfileState";
+  }
+
+  @Override
+  public int getSize() {
+    return kSizeDouble * 2;
+  }
+
+  @Override
+  public String getSchema() {
+    return "double position;double velocity";
+  }
+
+  @Override
+  public ExponentialProfile.State unpack(ByteBuffer bb) {
+    return new ExponentialProfile.State(bb.getDouble(), bb.getDouble());
+  }
+
+  @Override
+  public void pack(ByteBuffer bb, ExponentialProfile.State value) {
+    bb.putDouble(value.position);
+    bb.putDouble(value.velocity);
+  }
+}
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStruct.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStruct.java
new file mode 100644
index 0000000000..b952790af3
--- /dev/null
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStruct.java
@@ -0,0 +1,42 @@
+// 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.math.trajectory.struct;
+
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
+
+public class TrapezoidProfileStateStruct implements Struct<TrapezoidProfile.State> {
+  @Override
+  public Class<TrapezoidProfile.State> getTypeClass() {
+    return TrapezoidProfile.State.class;
+  }
+
+  @Override
+  public String getTypeName() {
+    return "TrapezoidProfileState";
+  }
+
+  @Override
+  public int getSize() {
+    return kSizeDouble * 2;
+  }
+
+  @Override
+  public String getSchema() {
+    return "double position;double velocity";
+  }
+
+  @Override
+  public TrapezoidProfile.State unpack(ByteBuffer bb) {
+    return new TrapezoidProfile.State(bb.getDouble(), bb.getDouble());
+  }
+
+  @Override
+  public void pack(ByteBuffer bb, TrapezoidProfile.State value) {
+    bb.putDouble(value.position);
+    bb.putDouble(value.velocity);
+  }
+}
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStructTest.java
new file mode 100644
index 0000000000..18a13bfffc
--- /dev/null
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStructTest.java
@@ -0,0 +1,25 @@
+// 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.math.trajectory.struct;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.trajectory.ExponentialProfile;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import org.junit.jupiter.api.Test;
+
+class ExponentialProfileStateStructTest {
+  private static final ExponentialProfile.State STATE = new ExponentialProfile.State(4.0, 5.0);
+
+  @Test
+  void testRoundtrip() {
+    ByteBuffer buffer = ByteBuffer.allocate(ExponentialProfile.State.struct.getSize());
+    buffer.order(ByteOrder.LITTLE_ENDIAN);
+    ExponentialProfile.State.struct.pack(buffer, STATE);
+    buffer.rewind();
+    assertEquals(STATE, ExponentialProfile.State.struct.unpack(buffer));
+  }
+}
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStructTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStructTest.java
new file mode 100644
index 0000000000..84497c95e7
--- /dev/null
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStructTest.java
@@ -0,0 +1,25 @@
+// 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.math.trajectory.struct;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import org.junit.jupiter.api.Test;
+
+class TrapezoidProfileStateStructTest {
+  private static final TrapezoidProfile.State STATE = new TrapezoidProfile.State(4.0, 5.0);
+
+  @Test
+  void testRoundtrip() {
+    ByteBuffer buffer = ByteBuffer.allocate(TrapezoidProfile.State.struct.getSize());
+    buffer.order(ByteOrder.LITTLE_ENDIAN);
+    TrapezoidProfile.State.struct.pack(buffer, STATE);
+    buffer.rewind();
+    assertEquals(STATE, TrapezoidProfile.State.struct.unpack(buffer));
+  }
+}