diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
index db6f8f7a1cb..5deb7d1be88 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.math.trajectory;
 
+import edu.wpi.first.math.trajectory.struct.ExponentialProfileStateStruct;
+
 import java.util.Objects;
 
 /**
@@ -129,6 +131,9 @@ public static Constraints fromStateSpace(double maxInput, double A, double B) {
 
   /** Profile state. */
   public static class State {
+    /** The struct used for serializing this class. */
+    public static final ExponentialProfileStateStruct struct = new ExponentialProfileStateStruct();
+    
     /** The position at this state. */
     public double position;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
index 448c8384cf9..cfcc5d86c92 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
@@ -6,6 +6,9 @@
 
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
+import edu.wpi.first.math.trajectory.struct.TrapezoidProfileStateStruct;
+import edu.wpi.first.util.struct.StructSerializable;
+
 import java.util.Objects;
 
 /**
@@ -71,7 +74,10 @@ public Constraints(double maxVelocity, double maxAcceleration) {
   }
 
   /** Profile state. */
-  public static class State {
+  public static class State implements StructSerializable {
+    /** The struct used for serializing this class. */
+    public static final TrapezoidProfileStateStruct struct = new TrapezoidProfileStateStruct();
+    
     /** The position at this state. */
     public double position;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStruct.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStruct.java
new file mode 100644
index 00000000000..ab3924afacd
--- /dev/null
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStruct.java
@@ -0,0 +1,39 @@
+package edu.wpi.first.math.trajectory.struct;
+
+import edu.wpi.first.math.trajectory.ExponentialProfile;
+import edu.wpi.first.util.struct.Struct;
+
+import java.nio.ByteBuffer;
+
+public class ExponentialProfileStateStruct implements Struct<ExponentialProfile.State> {
+	@Override
+	public Class<ExponentialProfile.State> getTypeClass() {
+		return ExponentialProfile.State.class;
+	}
+	
+	@Override
+	public String getTypeName() {
+		return "TrapezoidProfile.State";
+	}
+	
+	@Override
+	public int getSize() {
+		return kSizeDouble * 2;
+	}
+	
+	@Override
+	public String getSchema() {
+		return "double position;double velocity";
+	}
+	
+	@Override
+	public ExponentialProfile.State unpack(ByteBuffer bb) {
+		return new ExponentialProfile.State(bb.getDouble(), bb.getDouble());
+	}
+	
+	@Override
+	public void pack(ByteBuffer bb, ExponentialProfile.State value) {
+		bb.putDouble(value.position);
+		bb.putDouble(value.velocity);
+	}
+}
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStruct.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStruct.java
new file mode 100644
index 00000000000..90b928d46ed
--- /dev/null
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStruct.java
@@ -0,0 +1,39 @@
+package edu.wpi.first.math.trajectory.struct;
+
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.util.struct.Struct;
+
+import java.nio.ByteBuffer;
+
+public class TrapezoidProfileStateStruct implements Struct<TrapezoidProfile.State> {
+	@Override
+	public Class<TrapezoidProfile.State> getTypeClass() {
+		return TrapezoidProfile.State.class;
+	}
+	
+	@Override
+	public String getTypeName() {
+		return "TrapezoidProfile.State";
+	}
+	
+	@Override
+	public int getSize() {
+		return kSizeDouble * 2;
+	}
+	
+	@Override
+	public String getSchema() {
+		return "double position;double velocity";
+	}
+	
+	@Override
+	public TrapezoidProfile.State unpack(ByteBuffer bb) {
+		return new TrapezoidProfile.State(bb.getDouble(), bb.getDouble());
+	}
+	
+	@Override
+	public void pack(ByteBuffer bb, TrapezoidProfile.State value) {
+		bb.putDouble(value.position);
+		bb.putDouble(value.velocity);
+	}
+}