Merge branch 'main' into development

2026-06-29 02:21:44 +00:00 · 2024-03-16 11:06:44 -07:00
parent 38c128fe6a c10f7d91b7
commit fd4424eb89
28 changed files with 781 additions and 107 deletions
--- a/.github/workflows/sanitizers.yml
+++ b/.github/workflows/sanitizers.yml
@@ -26,8 +26,13 @@ jobs:
            ctest-flags: ""
    name: "${{ matrix.name }}"
    runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    container:
+      image: wpilib/roborio-cross-ubuntu:2024-22.04
+      options: --privileged
    steps:
+      - name: mmap rnd_bits workaround
+        run: sudo sysctl -w vm.mmap_rnd_bits=28
+
      - name: Install Dependencies
        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14 libprotobuf-dev protobuf-compiler ninja-build

--- a/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
@@ -83,6 +83,8 @@ public class PowerDistributionJNI extends JNIWrapper {
  /**
   * Gets the temperature of the PowerDistribution.
   *
+   * <p>Not supported on the Rev PDH and returns 0.
+   *
   * @param handle the module handle
   * @return the module temperature (celsius)
   * @see "HAL_GetPowerDistributionTemperature"
@@ -129,7 +131,9 @@ public class PowerDistributionJNI extends JNIWrapper {
  public static native double getTotalCurrent(int handle);

  /**
-   * Gets the total power of the PowerDistribution.
+   * Gets the total power of the Power Distribution Panel.
+   *
+   * <p>Not supported on the Rev PDH and returns 0.
   *
   * @param handle the module handle
   * @return the total power (watts)
@@ -138,7 +142,9 @@ public class PowerDistributionJNI extends JNIWrapper {
  public static native double getTotalPower(int handle);

  /**
-   * Gets the total energy of the PowerDistribution.
+   * Gets the total energy of the Power Distribution Panel.
+   *
+   * <p>Not supported on the Rev PDH and does nothing.
   *
   * @param handle the module handle
   * @return the total energy (joules)
@@ -147,7 +153,9 @@ public class PowerDistributionJNI extends JNIWrapper {
  public static native double getTotalEnergy(int handle);

  /**
-   * Resets the PowerDistribution accumulated energy.
+   * Resets the Power Distribution Panel accumulated energy.
+   *
+   * <p>Not supported on the Rev PDH and returns 0.
   *
   * @param handle the module handle
   * @see "HAL_ClearPowerDistributionStickyFaults"
--- a/hal/src/main/native/cpp/jni/HAL.cpp
+++ b/hal/src/main/native/cpp/jni/HAL.cpp
@@ -6,8 +6,11 @@

 #include <jni.h>

+#ifdef __FRC_ROBORIO__
+#include <signal.h>
+#endif
+
 #include <cassert>
-#include <cstdlib>
 #include <cstring>

 #include <fmt/format.h>
@@ -93,7 +96,7 @@ Java_edu_wpi_first_hal_HAL_terminate
  (JNIEnv*, jclass)
 {
 #ifdef __FRC_ROBORIO__
-  std::abort();
+  ::raise(SIGKILL);
 #endif
 }

--- a/hal/src/main/native/include/hal/PowerDistribution.h
+++ b/hal/src/main/native/include/hal/PowerDistribution.h
@@ -101,7 +101,9 @@ int32_t HAL_GetPowerDistributionNumChannels(HAL_PowerDistributionHandle handle,
                                            int32_t* status);

 /**
- * Gets the temperature of the PowerDistribution.
+ * Gets the temperature of the Power Distribution Panel.
+ *
+ * Not supported on the Rev PDH and returns 0.
 *
 * @param[in] handle the module handle
 * @param[out] status Error status variable. 0 on success.
@@ -156,7 +158,9 @@ double HAL_GetPowerDistributionTotalCurrent(HAL_PowerDistributionHandle handle,
                                            int32_t* status);

 /**
- * Gets the total power of the PowerDistribution.
+ * Gets the total power of the Power Distribution Panel.
+ *
+ * Not supported on the Rev PDH and returns 0.
 *
 * @param[in] handle the module handle
 * @param[out] status Error status variable. 0 on success.
@@ -166,7 +170,9 @@ double HAL_GetPowerDistributionTotalPower(HAL_PowerDistributionHandle handle,
                                          int32_t* status);

 /**
- * Gets the total energy of the PowerDistribution.
+ * Gets the total energy of the Power Distribution Panel.
+ *
+ * Not supported on the Rev PDH and returns 0.
 *
 * @param[in] handle the module handle
 * @param[out] status Error status variable. 0 on success.
@@ -178,6 +184,8 @@ double HAL_GetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
 /**
 * Resets the PowerDistribution accumulated energy.
 *
+ * Not supported on the Rev PDH and does nothing.
+ *
 * @param[in] handle the module handle
 * @param[out] status Error status variable. 0 on success.
 */
--- a/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp
+++ b/ntcore/src/main/native/cpp/net/WebSocketConnection.cpp
@@ -233,6 +233,8 @@ int WebSocketConnection::Flush() {
  int count = 0;
  for (auto&& frame :
       wpi::take_back(std::span{m_frames}, unsentFrames.size())) {
+    ReleaseBufs(
+        std::span{m_bufs}.subspan(frame.start, frame.end - frame.start));
    count += frame.count;
  }
  m_frames.clear();
--- a/simulation/halsim_gui/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/main.cpp
@@ -51,6 +51,8 @@ __declspec(dllexport)

  glass::SetStorageName("simgui");

+  gui::AddInit([] { ImGui::GetIO().ConfigDockingWithShift = true; });
+
  HAL_RegisterExtension(HALSIMGUI_EXT_ADDGUIINIT,
                        reinterpret_cast<void*>((AddGuiInitFn)&AddGuiInit));
  HAL_RegisterExtension(
--- a/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
+++ b/sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
@@ -8,7 +8,6 @@

 #include <frc/controller/LinearQuadraticRegulator.h>
 #include <frc/system/LinearSystem.h>
-#include <frc/system/plant/LinearSystemId.h>
 #include <units/acceleration.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
@@ -32,8 +31,10 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
  // instabilities in the LQR.
  if (Ka > 1E-7) {
    // Create a position system from our feedforward gains.
-    auto system = frc::LinearSystemId::IdentifyPositionSystem<units::meter>(
-        Kv_t(Kv), Ka_t(Ka));
+    frc::LinearSystem<2, 1, 1> system{
+        frc::Matrixd<2, 2>{{0.0, 1.0}, {0.0, -Kv / Ka}},
+        frc::Matrixd<2, 1>{0.0, 1.0 / Ka}, frc::Matrixd<1, 2>{1.0, 0.0},
+        frc::Matrixd<1, 1>{0.0}};
    // Create an LQR with 2 states to control -- position and velocity.
    frc::LinearQuadraticRegulator<2, 1> controller{
        system, {params.qp, params.qv}, {params.r}, preset.period};
@@ -41,9 +42,10 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
    controller.LatencyCompensate(system, preset.period,
                                 preset.measurementDelay);

-    return {controller.K(0, 0) * preset.outputConversionFactor,
-            controller.K(0, 1) * preset.outputConversionFactor /
-                (preset.normalized ? 1 : preset.period.value())};
+    return {
+        controller.K(0, 0) * preset.outputConversionFactor,
+        controller.K(0, 1) * preset.outputConversionFactor /
+            (preset.normalized ? 1 : units::second_t{preset.period}.value())};
  }

  // This is our special model to avoid instabilities in the LQR.
@@ -74,8 +76,9 @@ FeedbackGains sysid::CalculateVelocityFeedbackGains(
  }

  // Create a velocity system from our feedforward gains.
-  auto system = frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(
-      Kv_t(Kv), Ka_t(Ka));
+  frc::LinearSystem<1, 1, 1> system{
+      frc::Matrixd<1, 1>{-Kv / Ka}, frc::Matrixd<1, 1>{1.0 / Ka},
+      frc::Matrixd<1, 1>{1.0}, frc::Matrixd<1, 1>{0.0}};
  // Create an LQR controller with 1 state -- velocity.
  frc::LinearQuadraticRegulator<1, 1> controller{
      system, {params.qv}, {params.r}, preset.period};
--- a/sysid/src/main/native/include/sysid/analysis/ArmSim.h
+++ b/sysid/src/main/native/include/sysid/analysis/ArmSim.h
@@ -33,7 +33,7 @@ class ArmSim {
   * forward dt seconds.
   *
   * @param voltage Voltage to apply over the timestep.
-   * @param dt      Sammple period.
+   * @param dt      Sample period.
   */
  void Update(units::volt_t voltage, units::second_t dt);

--- a/sysid/src/main/native/include/sysid/analysis/ElevatorSim.h
+++ b/sysid/src/main/native/include/sysid/analysis/ElevatorSim.h
@@ -31,7 +31,7 @@ class ElevatorSim {
   * dt seconds.
   *
   * @param voltage Voltage to apply over the timestep.
-   * @param dt      Sammple period.
+   * @param dt      Sample period.
   */
  void Update(units::volt_t voltage, units::second_t dt);

--- a/sysid/src/main/native/include/sysid/analysis/SimpleMotorSim.h
+++ b/sysid/src/main/native/include/sysid/analysis/SimpleMotorSim.h
@@ -30,7 +30,7 @@ class SimpleMotorSim {
   * seconds.
   *
   * @param voltage Voltage to apply over the timestep.
-   * @param dt      Sammple period.
+   * @param dt      Sample period.
   */
  void Update(units::volt_t voltage, units::second_t dt);

--- a/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
+++ b/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
@@ -130,3 +130,16 @@ TEST(FeedbackAnalysisTest, PositionWithLatencyCompensation) {
  EXPECT_NEAR(Kp, 5.92, 0.05);
  EXPECT_NEAR(Kd, 2.12, 0.05);
 }
+
+TEST(FeedbackAnalysisTest, PositionREV) {
+  auto Kv = 3.060;
+  auto Ka = 0.327;
+
+  sysid::LQRParameters params{1, 1.5, 7};
+
+  auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(
+      sysid::presets::kREVNEOBuiltIn, params, Kv, Ka);
+
+  EXPECT_NEAR(Kp, 0.30202, 0.05);
+  EXPECT_NEAR(Kd, 48.518, 0.05);
+}
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
@@ -237,7 +237,7 @@ public class Trigger implements BooleanSupplier {
   * @return A trigger which is active when both component triggers are active.
   */
  public Trigger and(BooleanSupplier trigger) {
-    return new Trigger(() -> m_condition.getAsBoolean() && trigger.getAsBoolean());
+    return new Trigger(m_loop, () -> m_condition.getAsBoolean() && trigger.getAsBoolean());
  }

  /**
@@ -247,7 +247,7 @@ public class Trigger implements BooleanSupplier {
   * @return A trigger which is active when either component trigger is active.
   */
  public Trigger or(BooleanSupplier trigger) {
-    return new Trigger(() -> m_condition.getAsBoolean() || trigger.getAsBoolean());
+    return new Trigger(m_loop, () -> m_condition.getAsBoolean() || trigger.getAsBoolean());
  }

  /**
@@ -257,7 +257,7 @@ public class Trigger implements BooleanSupplier {
   * @return the negated trigger
   */
  public Trigger negate() {
-    return new Trigger(() -> !m_condition.getAsBoolean());
+    return new Trigger(m_loop, () -> !m_condition.getAsBoolean());
  }

  /**
@@ -281,6 +281,7 @@ public class Trigger implements BooleanSupplier {
   */
  public Trigger debounce(double seconds, Debouncer.DebounceType type) {
    return new Trigger(
+        m_loop,
        new BooleanSupplier() {
          final Debouncer m_debouncer = new Debouncer(seconds, type);

--- a/wpilibc/src/main/native/include/frc/PowerDistribution.h
+++ b/wpilibc/src/main/native/include/frc/PowerDistribution.h
@@ -58,7 +58,10 @@ class PowerDistribution : public wpi::Sendable,
  double GetVoltage() const;

  /**
-   * Query the temperature of the PDP/PDH.
+   * Query the temperature of the PDP.
+   *
+   * Not supported on the Rev PDH and returns 0.
+   *
   *
   * @return The temperature in degrees Celsius
   */
@@ -80,21 +83,27 @@ class PowerDistribution : public wpi::Sendable,
  double GetTotalCurrent() const;

  /**
-   * Query the total power drawn from all monitored PDP/PDH channels.
+   * Query the total power drawn from all monitored PDP channels.
+   *
+   * Not supported on the Rev PDH and returns 0.
   *
   * @return The total power drawn in Watts
   */
  double GetTotalPower() const;

  /**
-   * Query the total energy drawn from the monitored PDP/PDH channels.
+   * Query the total energy drawn from the monitored PDP channels.
+   *
+   * Not supported on the Rev PDH and returns 0.
   *
   * @return The total energy drawn in Joules
   */
  double GetTotalEnergy() const;

  /**
-   * Reset the total energy drawn from the PDP/PDH.
+   * Reset the total energy drawn from the PDP.
+   *
+   * Not supported on the Rev PDH and does nothing.
   *
   * @see PowerDistribution#GetTotalEnergy
   */
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
@@ -93,7 +93,9 @@ public class PowerDistribution implements Sendable, AutoCloseable {
  }

  /**
-   * Query the temperature of the PDP/PDH.
+   * Query the temperature of the PDP.
+   *
+   * <p>Not supported on the Rev PDH and returns 0.
   *
   * @return The temperature in degrees Celsius
   */
@@ -121,7 +123,9 @@ public class PowerDistribution implements Sendable, AutoCloseable {
  }

  /**
-   * Query the total power drawn from the monitored channels.
+   * Query the total power drawn from the monitored channels of the PDP.
+   *
+   * <p>Not supported on the Rev PDH and returns 0.
   *
   * @return the total power in Watts
   */
@@ -130,7 +134,9 @@ public class PowerDistribution implements Sendable, AutoCloseable {
  }

  /**
-   * Query the total energy drawn from the monitored channels.
+   * Query the total energy drawn from the monitored channels of the PDP.
+   *
+   * <p>Not supported on the Rev PDH and returns 0.
   *
   * @return the total energy in Joules
   */
@@ -138,7 +144,11 @@ public class PowerDistribution implements Sendable, AutoCloseable {
    return PowerDistributionJNI.getTotalEnergy(m_handle);
  }

-  /** Reset the total energy to 0. */
+  /**
+   * Reset the total energy to 0 of the PDP.
+   *
+   * <p>Not supported on the Rev PDH and does nothing.
+   */
  public void resetTotalEnergy() {
    PowerDistributionJNI.resetTotalEnergy(m_handle);
  }
--- a/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Kinematics.java
+++ b/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Kinematics.java
@@ -19,61 +19,65 @@ import us.hebi.quickbuf.RepeatedByte;
 import us.hebi.quickbuf.RepeatedMessage;

 public final class Kinematics {
-  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(3208,
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(3427,
    "ChBraW5lbWF0aWNzLnByb3RvEgl3cGkucHJvdG8aEGdlb21ldHJ5MmQucHJvdG8iTQoVUHJvdG9idWZD" + 
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+    "BnByb3RvMw==");

  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("kinematics.proto", "wpi.proto", descriptorData, Geometry2D.getDescriptor());

@@ -83,19 +87,21 @@ public final class Kinematics {

  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelSpeeds_descriptor = descriptor.internalContainedType(200, 80, "ProtobufDifferentialDriveWheelSpeeds", "wpi.proto.ProtobufDifferentialDriveWheelSpeeds");

-  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveKinematics_descriptor = descriptor.internalContainedType(283, 292, "ProtobufMecanumDriveKinematics", "wpi.proto.ProtobufMecanumDriveKinematics");
+  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelPositions_descriptor = descriptor.internalContainedType(282, 83, "ProtobufDifferentialDriveWheelPositions", "wpi.proto.ProtobufDifferentialDriveWheelPositions");

-  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveMotorVoltages_descriptor = descriptor.internalContainedType(578, 159, "ProtobufMecanumDriveMotorVoltages", "wpi.proto.ProtobufMecanumDriveMotorVoltages");
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveKinematics_descriptor = descriptor.internalContainedType(368, 292, "ProtobufMecanumDriveKinematics", "wpi.proto.ProtobufMecanumDriveKinematics");

-  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor = descriptor.internalContainedType(740, 160, "ProtobufMecanumDriveWheelPositions", "wpi.proto.ProtobufMecanumDriveWheelPositions");
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveMotorVoltages_descriptor = descriptor.internalContainedType(663, 159, "ProtobufMecanumDriveMotorVoltages", "wpi.proto.ProtobufMecanumDriveMotorVoltages");

-  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor = descriptor.internalContainedType(903, 157, "ProtobufMecanumDriveWheelSpeeds", "wpi.proto.ProtobufMecanumDriveWheelSpeeds");
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor = descriptor.internalContainedType(825, 160, "ProtobufMecanumDriveWheelPositions", "wpi.proto.ProtobufMecanumDriveWheelPositions");

-  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveDriveKinematics_descriptor = descriptor.internalContainedType(1062, 91, "ProtobufSwerveDriveKinematics", "wpi.proto.ProtobufSwerveDriveKinematics");
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor = descriptor.internalContainedType(988, 157, "ProtobufMecanumDriveWheelSpeeds", "wpi.proto.ProtobufMecanumDriveWheelSpeeds");

-  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModulePosition_descriptor = descriptor.internalContainedType(1155, 111, "ProtobufSwerveModulePosition", "wpi.proto.ProtobufSwerveModulePosition");
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveDriveKinematics_descriptor = descriptor.internalContainedType(1147, 91, "ProtobufSwerveDriveKinematics", "wpi.proto.ProtobufSwerveDriveKinematics");

-  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleState_descriptor = descriptor.internalContainedType(1268, 102, "ProtobufSwerveModuleState", "wpi.proto.ProtobufSwerveModuleState");
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModulePosition_descriptor = descriptor.internalContainedType(1240, 111, "ProtobufSwerveModulePosition", "wpi.proto.ProtobufSwerveModulePosition");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleState_descriptor = descriptor.internalContainedType(1353, 102, "ProtobufSwerveModuleState", "wpi.proto.ProtobufSwerveModuleState");

  /**
   * @return this proto file's descriptor.
@@ -1113,6 +1119,344 @@ public final class Kinematics {
    }
  }

+  /**
+   * Protobuf type {@code ProtobufDifferentialDriveWheelPositions}
+   */
+  public static final class ProtobufDifferentialDriveWheelPositions extends ProtoMessage<ProtobufDifferentialDriveWheelPositions> implements Cloneable {
+    private static final long serialVersionUID = 0L;
+
+    /**
+     * <code>optional double left = 1;</code>
+     */
+    private double left;
+
+    /**
+     * <code>optional double right = 2;</code>
+     */
+    private double right;
+
+    private ProtobufDifferentialDriveWheelPositions() {
+    }
+
+    /**
+     * @return a new empty instance of {@code ProtobufDifferentialDriveWheelPositions}
+     */
+    public static ProtobufDifferentialDriveWheelPositions newInstance() {
+      return new ProtobufDifferentialDriveWheelPositions();
+    }
+
+    /**
+     * <code>optional double left = 1;</code>
+     * @return whether the left field is set
+     */
+    public boolean hasLeft() {
+      return (bitField0_ & 0x00000001) != 0;
+    }
+
+    /**
+     * <code>optional double left = 1;</code>
+     * @return this
+     */
+    public ProtobufDifferentialDriveWheelPositions clearLeft() {
+      bitField0_ &= ~0x00000001;
+      left = 0D;
+      return this;
+    }
+
+    /**
+     * <code>optional double left = 1;</code>
+     * @return the left
+     */
+    public double getLeft() {
+      return left;
+    }
+
+    /**
+     * <code>optional double left = 1;</code>
+     * @param value the left to set
+     * @return this
+     */
+    public ProtobufDifferentialDriveWheelPositions setLeft(final double value) {
+      bitField0_ |= 0x00000001;
+      left = value;
+      return this;
+    }
+
+    /**
+     * <code>optional double right = 2;</code>
+     * @return whether the right field is set
+     */
+    public boolean hasRight() {
+      return (bitField0_ & 0x00000002) != 0;
+    }
+
+    /**
+     * <code>optional double right = 2;</code>
+     * @return this
+     */
+    public ProtobufDifferentialDriveWheelPositions clearRight() {
+      bitField0_ &= ~0x00000002;
+      right = 0D;
+      return this;
+    }
+
+    /**
+     * <code>optional double right = 2;</code>
+     * @return the right
+     */
+    public double getRight() {
+      return right;
+    }
+
+    /**
+     * <code>optional double right = 2;</code>
+     * @param value the right to set
+     * @return this
+     */
+    public ProtobufDifferentialDriveWheelPositions setRight(final double value) {
+      bitField0_ |= 0x00000002;
+      right = value;
+      return this;
+    }
+
+    @Override
+    public ProtobufDifferentialDriveWheelPositions copyFrom(
+        final ProtobufDifferentialDriveWheelPositions other) {
+      cachedSize = other.cachedSize;
+      if ((bitField0_ | other.bitField0_) != 0) {
+        bitField0_ = other.bitField0_;
+        left = other.left;
+        right = other.right;
+      }
+      return this;
+    }
+
+    @Override
+    public ProtobufDifferentialDriveWheelPositions mergeFrom(
+        final ProtobufDifferentialDriveWheelPositions other) {
+      if (other.isEmpty()) {
+        return this;
+      }
+      cachedSize = -1;
+      if (other.hasLeft()) {
+        setLeft(other.left);
+      }
+      if (other.hasRight()) {
+        setRight(other.right);
+      }
+      return this;
+    }
+
+    @Override
+    public ProtobufDifferentialDriveWheelPositions clear() {
+      if (isEmpty()) {
+        return this;
+      }
+      cachedSize = -1;
+      bitField0_ = 0;
+      left = 0D;
+      right = 0D;
+      return this;
+    }
+
+    @Override
+    public ProtobufDifferentialDriveWheelPositions clearQuick() {
+      if (isEmpty()) {
+        return this;
+      }
+      cachedSize = -1;
+      bitField0_ = 0;
+      return this;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+      if (o == this) {
+        return true;
+      }
+      if (!(o instanceof ProtobufDifferentialDriveWheelPositions)) {
+        return false;
+      }
+      ProtobufDifferentialDriveWheelPositions other = (ProtobufDifferentialDriveWheelPositions) o;
+      return bitField0_ == other.bitField0_
+        && (!hasLeft() || ProtoUtil.isEqual(left, other.left))
+        && (!hasRight() || ProtoUtil.isEqual(right, other.right));
+    }
+
+    @Override
+    public void writeTo(final ProtoSink output) throws IOException {
+      if ((bitField0_ & 0x00000001) != 0) {
+        output.writeRawByte((byte) 9);
+        output.writeDoubleNoTag(left);
+      }
+      if ((bitField0_ & 0x00000002) != 0) {
+        output.writeRawByte((byte) 17);
+        output.writeDoubleNoTag(right);
+      }
+    }
+
+    @Override
+    protected int computeSerializedSize() {
+      int size = 0;
+      if ((bitField0_ & 0x00000001) != 0) {
+        size += 9;
+      }
+      if ((bitField0_ & 0x00000002) != 0) {
+        size += 9;
+      }
+      return size;
+    }
+
+    @Override
+    @SuppressWarnings("fallthrough")
+    public ProtobufDifferentialDriveWheelPositions mergeFrom(final ProtoSource input) throws
+        IOException {
+      // Enabled Fall-Through Optimization (QuickBuffers)
+      int tag = input.readTag();
+      while (true) {
+        switch (tag) {
+          case 9: {
+            // left
+            left = input.readDouble();
+            bitField0_ |= 0x00000001;
+            tag = input.readTag();
+            if (tag != 17) {
+              break;
+            }
+          }
+          case 17: {
+            // right
+            right = input.readDouble();
+            bitField0_ |= 0x00000002;
+            tag = input.readTag();
+            if (tag != 0) {
+              break;
+            }
+          }
+          case 0: {
+            return this;
+          }
+          default: {
+            if (!input.skipField(tag)) {
+              return this;
+            }
+            tag = input.readTag();
+            break;
+          }
+        }
+      }
+    }
+
+    @Override
+    public void writeTo(final JsonSink output) throws IOException {
+      output.beginObject();
+      if ((bitField0_ & 0x00000001) != 0) {
+        output.writeDouble(FieldNames.left, left);
+      }
+      if ((bitField0_ & 0x00000002) != 0) {
+        output.writeDouble(FieldNames.right, right);
+      }
+      output.endObject();
+    }
+
+    @Override
+    public ProtobufDifferentialDriveWheelPositions mergeFrom(final JsonSource input) throws
+        IOException {
+      if (!input.beginObject()) {
+        return this;
+      }
+      while (!input.isAtEnd()) {
+        switch (input.readFieldHash()) {
+          case 3317767: {
+            if (input.isAtField(FieldNames.left)) {
+              if (!input.trySkipNullValue()) {
+                left = input.readDouble();
+                bitField0_ |= 0x00000001;
+              }
+            } else {
+              input.skipUnknownField();
+            }
+            break;
+          }
+          case 108511772: {
+            if (input.isAtField(FieldNames.right)) {
+              if (!input.trySkipNullValue()) {
+                right = input.readDouble();
+                bitField0_ |= 0x00000002;
+              }
+            } else {
+              input.skipUnknownField();
+            }
+            break;
+          }
+          default: {
+            input.skipUnknownField();
+            break;
+          }
+        }
+      }
+      input.endObject();
+      return this;
+    }
+
+    @Override
+    public ProtobufDifferentialDriveWheelPositions clone() {
+      return new ProtobufDifferentialDriveWheelPositions().copyFrom(this);
+    }
+
+    @Override
+    public boolean isEmpty() {
+      return ((bitField0_) == 0);
+    }
+
+    public static ProtobufDifferentialDriveWheelPositions parseFrom(final byte[] data) throws
+        InvalidProtocolBufferException {
+      return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelPositions(), data).checkInitialized();
+    }
+
+    public static ProtobufDifferentialDriveWheelPositions parseFrom(final ProtoSource input) throws
+        IOException {
+      return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelPositions(), input).checkInitialized();
+    }
+
+    public static ProtobufDifferentialDriveWheelPositions parseFrom(final JsonSource input) throws
+        IOException {
+      return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelPositions(), input).checkInitialized();
+    }
+
+    /**
+     * @return factory for creating ProtobufDifferentialDriveWheelPositions messages
+     */
+    public static MessageFactory<ProtobufDifferentialDriveWheelPositions> getFactory() {
+      return ProtobufDifferentialDriveWheelPositionsFactory.INSTANCE;
+    }
+
+    /**
+     * @return this type's descriptor.
+     */
+    public static Descriptors.Descriptor getDescriptor() {
+      return Kinematics.wpi_proto_ProtobufDifferentialDriveWheelPositions_descriptor;
+    }
+
+    private enum ProtobufDifferentialDriveWheelPositionsFactory implements MessageFactory<ProtobufDifferentialDriveWheelPositions> {
+      INSTANCE;
+
+      @Override
+      public ProtobufDifferentialDriveWheelPositions create() {
+        return ProtobufDifferentialDriveWheelPositions.newInstance();
+      }
+    }
+
+    /**
+     * Contains name constants used for serializing JSON
+     */
+    static class FieldNames {
+      static final FieldName left = FieldName.forField("left");
+
+      static final FieldName right = FieldName.forField("right");
+    }
+  }
+
  /**
   * Protobuf type {@code ProtobufMecanumDriveKinematics}
   */
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
@@ -7,6 +7,8 @@ package edu.wpi.first.math.kinematics;
 import static edu.wpi.first.units.Units.Meters;

 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelPositionsProto;
+import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelPositionsStruct;
 import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
 import java.util.Objects;
@@ -20,6 +22,14 @@ public class DifferentialDriveWheelPositions
  /** Distance measured by the right side. */
  public double rightMeters;

+  /** DifferentialDriveWheelPostions struct for serialization. */
+  public static final DifferentialDriveWheelPositionsStruct struct =
+      new DifferentialDriveWheelPositionsStruct();
+
+  /** DifferentialDriveWheelPostions struct for serialization. */
+  public static final DifferentialDriveWheelPositionsProto proto =
+      new DifferentialDriveWheelPositionsProto();
+
  /**
   * Constructs a DifferentialDriveWheelPositions.
   *
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelPositionsProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/DifferentialDriveWheelPositionsProto.java
@@ -0,0 +1,40 @@
+// 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.kinematics.proto;
+
+import edu.wpi.first.math.kinematics.DifferentialDriveWheelPositions;
+import edu.wpi.first.math.proto.Kinematics.ProtobufDifferentialDriveWheelPositions;
+import edu.wpi.first.util.protobuf.Protobuf;
+import us.hebi.quickbuf.Descriptors.Descriptor;
+
+public class DifferentialDriveWheelPositionsProto
+    implements Protobuf<DifferentialDriveWheelPositions, ProtobufDifferentialDriveWheelPositions> {
+  @Override
+  public Class<DifferentialDriveWheelPositions> getTypeClass() {
+    return DifferentialDriveWheelPositions.class;
+  }
+
+  @Override
+  public Descriptor getDescriptor() {
+    return ProtobufDifferentialDriveWheelPositions.getDescriptor();
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelPositions createMessage() {
+    return ProtobufDifferentialDriveWheelPositions.newInstance();
+  }
+
+  @Override
+  public DifferentialDriveWheelPositions unpack(ProtobufDifferentialDriveWheelPositions msg) {
+    return new DifferentialDriveWheelPositions(msg.getLeft(), msg.getRight());
+  }
+
+  @Override
+  public void pack(
+      ProtobufDifferentialDriveWheelPositions msg, DifferentialDriveWheelPositions value) {
+    msg.setLeft(value.leftMeters);
+    msg.setRight(value.rightMeters);
+  }
+}
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java
@@ -0,0 +1,45 @@
+// 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.kinematics.struct;
+
+import edu.wpi.first.math.kinematics.DifferentialDriveWheelPositions;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
+
+public class DifferentialDriveWheelPositionsStruct
+    implements Struct<DifferentialDriveWheelPositions> {
+  @Override
+  public Class<DifferentialDriveWheelPositions> getTypeClass() {
+    return DifferentialDriveWheelPositions.class;
+  }
+
+  @Override
+  public String getTypeString() {
+    return "struct:DifferentialDriveWheelPositions";
+  }
+
+  @Override
+  public int getSize() {
+    return kSizeDouble * 2;
+  }
+
+  @Override
+  public String getSchema() {
+    return "double left;double right";
+  }
+
+  @Override
+  public DifferentialDriveWheelPositions unpack(ByteBuffer bb) {
+    double left = bb.getDouble();
+    double right = bb.getDouble();
+    return new DifferentialDriveWheelPositions(left, right);
+  }
+
+  @Override
+  public void pack(ByteBuffer bb, DifferentialDriveWheelPositions value) {
+    bb.putDouble(value.leftMeters);
+    bb.putDouble(value.rightMeters);
+  }
+}
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -135,14 +135,14 @@ public final class LinearSystemId {
   * <p>u = K_v v + K_a a
   *
   * @param kV The velocity gain, in volts/(unit/sec)
-   * @param kA The acceleration gain, in volts/(unit/sec^2)
+   * @param kA The acceleration gain, in volts/(unit/sec²)
   * @return A LinearSystem representing the given characterized constants.
-   * @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
+   * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
   */
  public static LinearSystem<N2, N1, N2> createDCMotorSystem(double kV, double kA) {
-    if (kV <= 0.0) {
-      throw new IllegalArgumentException("Kv must be greater than zero.");
+    if (kV < 0.0) {
+      throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
    }
    if (kA <= 0.0) {
      throw new IllegalArgumentException("Ka must be greater than zero.");
@@ -256,14 +256,14 @@ public final class LinearSystemId {
   * <p>u = K_v v + K_a a
   *
   * @param kV The velocity gain, in volts/(unit/sec)
-   * @param kA The acceleration gain, in volts/(unit/sec^2)
+   * @param kA The acceleration gain, in volts/(unit/sec²)
   * @return A LinearSystem representing the given characterized constants.
-   * @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
+   * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
   */
  public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
    if (kV <= 0.0) {
-      throw new IllegalArgumentException("Kv must be greater than zero.");
+      throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
    }
    if (kA <= 0.0) {
      throw new IllegalArgumentException("Ka must be greater than zero.");
@@ -291,12 +291,12 @@ public final class LinearSystemId {
   * @param kV The velocity gain, in volts/(unit/sec)
   * @param kA The acceleration gain, in volts/(unit/sec²)
   * @return A LinearSystem representing the given characterized constants.
-   * @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
+   * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
   */
  public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
    if (kV <= 0.0) {
-      throw new IllegalArgumentException("Kv must be greater than zero.");
+      throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
    }
    if (kA <= 0.0) {
      throw new IllegalArgumentException("Ka must be greater than zero.");
--- a/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/proto/DifferentialDriveWheelPositionsProto.cpp
@@ -0,0 +1,34 @@
+// 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.
+
+#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
+
+#include "kinematics.pb.h"
+
+google::protobuf::Message* wpi::Protobuf<
+    frc::DifferentialDriveWheelPositions>::New(google::protobuf::Arena* arena) {
+  return google::protobuf::Arena::CreateMessage<
+      wpi::proto::ProtobufDifferentialDriveWheelPositions>(arena);
+}
+
+frc::DifferentialDriveWheelPositions
+wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Unpack(
+    const google::protobuf::Message& msg) {
+  auto m =
+      static_cast<const wpi::proto::ProtobufDifferentialDriveWheelPositions*>(
+          &msg);
+  return frc::DifferentialDriveWheelPositions{
+      units::meter_t{m->left()},
+      units::meter_t{m->right()},
+  };
+}
+
+void wpi::Protobuf<frc::DifferentialDriveWheelPositions>::Pack(
+    google::protobuf::Message* msg,
+    const frc::DifferentialDriveWheelPositions& value) {
+  auto m =
+      static_cast<wpi::proto::ProtobufDifferentialDriveWheelPositions*>(msg);
+  m->set_left(value.left.value());
+  m->set_right(value.right.value());
+}
--- a/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStruct.cpp
@@ -0,0 +1,26 @@
+// 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.
+
+#include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"
+
+namespace {
+constexpr size_t kLeftOff = 0;
+constexpr size_t kRightOff = kLeftOff + 8;
+}  // namespace
+
+using StructType = wpi::Struct<frc::DifferentialDriveWheelPositions>;
+
+frc::DifferentialDriveWheelPositions StructType::Unpack(
+    std::span<const uint8_t> data) {
+  return frc::DifferentialDriveWheelPositions{
+      units::meter_t{wpi::UnpackStruct<double, kLeftOff>(data)},
+      units::meter_t{wpi::UnpackStruct<double, kRightOff>(data)},
+  };
+}
+
+void StructType::Pack(std::span<uint8_t> data,
+                      const frc::DifferentialDriveWheelPositions& value) {
+  wpi::PackStruct<kLeftOff>(data, value.left.value());
+  wpi::PackStruct<kRightOff>(data, value.right.value());
+}
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
@@ -49,3 +49,6 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
  }
 };
 }  // namespace frc
+
+#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
+#include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"
--- a/wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h
+++ b/wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h
@@ -0,0 +1,19 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/protobuf/Protobuf.h>
+
+#include "frc/kinematics/DifferentialDriveWheelPositions.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelPositions> {
+  static google::protobuf::Message* New(google::protobuf::Arena* arena);
+  static frc::DifferentialDriveWheelPositions Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(google::protobuf::Message* msg,
+                   const frc::DifferentialDriveWheelPositions& value);
+};
--- a/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h
+++ b/wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h
@@ -0,0 +1,28 @@
+// 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.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+#include <wpi/struct/Struct.h>
+
+#include "frc/kinematics/DifferentialDriveWheelPositions.h"
+
+template <>
+struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelPositions> {
+  static constexpr std::string_view GetTypeString() {
+    return "struct:DifferentialDriveWheelPositions";
+  }
+  static constexpr size_t GetSize() { return 16; }
+  static constexpr std::string_view GetSchema() {
+    return "double left;double right";
+  }
+
+  static frc::DifferentialDriveWheelPositions Unpack(
+      std::span<const uint8_t> data);
+  static void Pack(std::span<uint8_t> data,
+                   const frc::DifferentialDriveWheelPositions& value);
+};
+
+static_assert(wpi::StructSerializable<frc::DifferentialDriveWheelPositions>);
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -79,7 +79,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
   *
   * @param kV The velocity gain, in volts/(unit/sec).
   * @param kA The acceleration gain, in volts/(unit/sec²).
-   * @throws std::domain_error if kV <= 0 or kA <= 0.
+   * @throws std::domain_error if kV < 0 or kA <= 0.
   * @see <a
   * href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
   */
@@ -89,8 +89,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
  static LinearSystem<1, 1, 1> IdentifyVelocitySystem(
      decltype(1_V / Velocity_t<Distance>(1)) kV,
      decltype(1_V / Acceleration_t<Distance>(1)) kA) {
-    if (kV <= decltype(kV){0}) {
-      throw std::domain_error("Kv must be greater than zero.");
+    if (kV < decltype(kV){0}) {
+      throw std::domain_error("Kv must be greater than or equal to zero.");
    }
    if (kA <= decltype(kA){0}) {
      throw std::domain_error("Ka must be greater than zero.");
@@ -122,7 +122,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
   * @param kV The velocity gain, in volts/(unit/sec).
   * @param kA The acceleration gain, in volts/(unit/sec²).
   *
-   * @throws std::domain_error if kV <= 0 or kA <= 0.
+   * @throws std::domain_error if kV < 0 or kA <= 0.
   * @see <a
   * href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
   */
@@ -132,8 +132,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
  static LinearSystem<2, 1, 1> IdentifyPositionSystem(
      decltype(1_V / Velocity_t<Distance>(1)) kV,
      decltype(1_V / Acceleration_t<Distance>(1)) kA) {
-    if (kV <= decltype(kV){0}) {
-      throw std::domain_error("Kv must be greater than zero.");
+    if (kV < decltype(kV){0}) {
+      throw std::domain_error("Kv must be greater than or equal to zero.");
    }
    if (kA <= decltype(kA){0}) {
      throw std::domain_error("Ka must be greater than zero.");
@@ -251,7 +251,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
   * @param kV The velocity gain, in volts/(unit/sec).
   * @param kA The acceleration gain, in volts/(unit/sec²).
   *
-   * @throws std::domain_error if kV <= 0 or kA <= 0.
+   * @throws std::domain_error if kV < 0 or kA <= 0.
   */
  template <typename Distance>
    requires std::same_as<units::meter, Distance> ||
@@ -259,8 +259,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
  static LinearSystem<2, 1, 2> DCMotorSystem(
      decltype(1_V / Velocity_t<Distance>(1)) kV,
      decltype(1_V / Acceleration_t<Distance>(1)) kA) {
-    if (kV <= decltype(kV){0}) {
-      throw std::domain_error("Kv must be greater than zero.");
+    if (kV < decltype(kV){0}) {
+      throw std::domain_error("Kv must be greater than or equal to zero.");
    }
    if (kA <= decltype(kA){0}) {
      throw std::domain_error("Ka must be greater than zero.");
--- a/wpimath/src/main/proto/kinematics.proto
+++ b/wpimath/src/main/proto/kinematics.proto
@@ -21,6 +21,11 @@ message ProtobufDifferentialDriveWheelSpeeds {
  double right = 2;
 }

+message ProtobufDifferentialDriveWheelPositions {
+  double left = 1;
+  double right = 2;
+}
+
 message ProtobufMecanumDriveKinematics {
  ProtobufTranslation2d front_left = 1;
  ProtobufTranslation2d front_right = 2;
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java
@@ -0,0 +1,29 @@
+// 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.kinematics.struct;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.kinematics.DifferentialDriveWheelPositions;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import org.junit.jupiter.api.Test;
+
+class DifferentialDriveWheelPositionsStructTest {
+  private static final DifferentialDriveWheelPositions DATA =
+      new DifferentialDriveWheelPositions(1.74, 35.04);
+
+  @Test
+  void testRoundtrip() {
+    ByteBuffer buffer = ByteBuffer.allocate(DifferentialDriveWheelPositions.struct.getSize());
+    buffer.order(ByteOrder.LITTLE_ENDIAN);
+    DifferentialDriveWheelPositions.struct.pack(buffer, DATA);
+    buffer.rewind();
+
+    DifferentialDriveWheelPositions data = DifferentialDriveWheelPositions.struct.unpack(buffer);
+    assertEquals(DATA.leftMeters, data.leftMeters);
+    assertEquals(DATA.rightMeters, data.rightMeters);
+  }
+}
--- a/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/struct/DifferentialDriveWheelPositionsStructTest.cpp
@@ -0,0 +1,27 @@
+// 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.
+
+#include <gtest/gtest.h>
+
+#include "frc/kinematics/DifferentialDriveWheelPositions.h"
+
+using namespace frc;
+
+namespace {
+
+using StructType = wpi::Struct<frc::DifferentialDriveWheelPositions>;
+const DifferentialDriveWheelPositions kExpectedData{
+    DifferentialDriveWheelPositions{1.74_m, 35.04_m}};
+}  // namespace
+
+TEST(DifferentialDriveWheelPositionsStructTest, Roundtrip) {
+  uint8_t buffer[StructType::GetSize()];
+  std::memset(buffer, 0, StructType::GetSize());
+  StructType::Pack(buffer, kExpectedData);
+
+  DifferentialDriveWheelPositions unpacked_data = StructType::Unpack(buffer);
+
+  EXPECT_EQ(kExpectedData.left.value(), unpacked_data.left.value());
+  EXPECT_EQ(kExpectedData.right.value(), unpacked_data.right.value());
+}