diff --git a/wpimath/src/main/native/include/frc/controller/proto/SimpleMotorFeedforwardProto.h b/wpimath/src/main/native/include/frc/controller/proto/SimpleMotorFeedforwardProto.h
index c65b88decd4..ad57d132d7b 100644
--- a/wpimath/src/main/native/include/frc/controller/proto/SimpleMotorFeedforwardProto.h
+++ b/wpimath/src/main/native/include/frc/controller/proto/SimpleMotorFeedforwardProto.h
@@ -7,6 +7,7 @@
 #include <wpi/protobuf/Protobuf.h>
 
 #include "frc/controller/SimpleMotorFeedforward.h"
+#include "units/length.h"
 
 // Everything is converted into units for
 // frc::SimpleMotorFeedforward<units::meters>
diff --git a/wpimath/src/main/native/include/frc/controller/struct/SimpleMotorFeedforwardStruct.h b/wpimath/src/main/native/include/frc/controller/struct/SimpleMotorFeedforwardStruct.h
index 375b47e4cad..ee8f4c43b4a 100644
--- a/wpimath/src/main/native/include/frc/controller/struct/SimpleMotorFeedforwardStruct.h
+++ b/wpimath/src/main/native/include/frc/controller/struct/SimpleMotorFeedforwardStruct.h
@@ -7,6 +7,7 @@
 #include <wpi/struct/Struct.h>
 
 #include "frc/controller/SimpleMotorFeedforward.h"
+#include "units/length.h"
 
 // Everything is converted into units for
 // frc::SimpleMotorFeedforward<units::meters>
diff --git a/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
index c901c7b67f8..0062b791db8 100644
--- a/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp
@@ -7,6 +7,8 @@
 #include "../../ProtoTestBase.h"
 #include "frc/controller/SimpleMotorFeedforward.h"
 #include "frc/controller/proto/SimpleMotorFeedforwardProto.h"
+#include "units/acceleration.h"
+#include "units/velocity.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp b/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
index 8bf8c36e388..ed76b68780a 100644
--- a/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp
@@ -7,6 +7,8 @@
 #include "../../StructTestBase.h"
 #include "frc/controller/SimpleMotorFeedforward.h"
 #include "frc/controller/struct/SimpleMotorFeedforwardStruct.h"
+#include "units/acceleration.h"
+#include "units/velocity.h"
 
 using namespace frc;