diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
index 1106a103a52..435ceed7ab2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -187,6 +187,15 @@ public Rotation2d rotateBy(Rotation2d other) {
         m_cos * other.m_cos - m_sin * other.m_sin, m_cos * other.m_sin + m_sin * other.m_cos);
   }
 
+  /**
+   * Returns the measure of the Rotation2d.
+   *
+   * @return The measure of the Rotation2d.
+   */
+  public Measure<Angle> getMeasure() {
+    return Radians.of(getRadians());
+  }
+
   /**
    * Returns the radian value of the Rotation2d.
    *