diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
index de8346d7dd..dead6162f8 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
@@ -310,6 +310,42 @@ public class DCMotor implements ProtobufSerializable, StructSerializable {
         12, 9.37, 483, 2, Units.rotationsPerMinuteToRadiansPerSecond(5800), numMotors);
   }
 
+  /**
+   * Return a gearbox of Kraken X44 brushless motors.
+   *
+   * @param numMotors Number of motors in the gearbox.
+   * @return a gearbox of Kraken X44 motors.
+   */
+  public static DCMotor getKrakenX44(int numMotors) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return new DCMotor(
+        12, 4.11, 279, 2, Units.rotationsPerMinuteToRadiansPerSecond(7758), numMotors);
+  }
+
+  /**
+   * Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented Control) enabled.
+   *
+   * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Kraken X44 FOC enabled motors.
+   */
+  public static DCMotor getKrakenX44Foc(int numMotors) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return new DCMotor(
+        12, 5.01, 329, 2, Units.rotationsPerMinuteToRadiansPerSecond(7368), numMotors);
+  }
+
+  /**
+   * Return a gearbox of Minion brushless motors.
+   *
+   * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Minion motors.
+   */
+  public static DCMotor getMinion(int numMotors) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return new DCMotor(
+        12, 3.17, 211, 2, Units.rotationsPerMinuteToRadiansPerSecond(7704), numMotors);
+  }
+
   /**
    * Return a gearbox of Neo Vortex brushless motors.
    *
diff --git a/wpimath/src/main/native/include/frc/system/plant/DCMotor.h b/wpimath/src/main/native/include/frc/system/plant/DCMotor.h
index 90dc8299ea..145cf02bfd 100644
--- a/wpimath/src/main/native/include/frc/system/plant/DCMotor.h
+++ b/wpimath/src/main/native/include/frc/system/plant/DCMotor.h
@@ -247,6 +247,31 @@ class WPILIB_DLLEXPORT DCMotor {
     return DCMotor(12_V, 9.37_Nm, 483_A, 2_A, 5800_rpm, numMotors);
   }
 
+  /**
+   * Return a gearbox of Kraken X44 brushless motors.
+   */
+  static constexpr DCMotor KrakenX44(int numMotors = 1) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return DCMotor(12_V, 4.11_Nm, 279_A, 2_A, 7758_rpm, numMotors);
+  }
+
+  /**
+   * Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented
+   * Control) enabled.
+   */
+  static constexpr DCMotor KrakenX44FOC(int numMotors = 1) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return DCMotor(12_V, 5.01_Nm, 329_A, 2_A, 7368_rpm, numMotors);
+  }
+
+  /**
+   * Return a gearbox of Minion brushless motors.
+   */
+  static constexpr DCMotor Minion(int numMotors = 1) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return DCMotor(12_V, 3.17_Nm, 211_A, 2_A, 7704_rpm, numMotors);
+  }
+
   /**
    * Return a gearbox of Neo Vortex brushless motors.
    */