diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
index b4503e6480f..b0dcd11d5bc 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
@@ -11,11 +11,15 @@
 import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelPositionsProto;
 import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelPositionsStruct;
 import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /** Represents the wheel positions for a differential drive drivetrain. */
 public class DifferentialDriveWheelPositions
-    implements Interpolatable<DifferentialDriveWheelPositions> {
+    implements StructSerializable,
+        ProtobufSerializable,
+        Interpolatable<DifferentialDriveWheelPositions> {
   /** Distance measured by the left side. */
   public double leftMeters;