diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
index e691c343101..47e7e7deb24 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -186,11 +186,11 @@ public double calculate(
   /**
    * Calculates the feedforward from the gains and setpoints assuming discrete control.
    *
-   * @param currentAngle The current angle. This angle should be measured from the horizontal (i.e.
+   * @param currentAngle The current angle in radians. This angle should be measured from the horizontal (i.e.
    *     if the provided angle is 0, the arm should be parallel to the floor). If your encoder does
    *     not follow this convention, an offset should be added.
-   * @param currentVelocity The current velocity setpoint.
-   * @param nextVelocity The next velocity setpoint.
+   * @param currentVelocity The current velocity setpoint in radians per second.
+   * @param nextVelocity The next velocity setpoint in radians per second.
    * @return The computed feedforward in volts.
    */
   public double calculateWithVelocities(
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
index c1c1bd9df4c..60060bb610d 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
@@ -160,9 +160,9 @@ public double calculate(double velocity) {
    *
    * <p>Note this method is inaccurate when the velocity crosses 0.
    *
-   * @param currentVelocity The current velocity setpoint.
-   * @param nextVelocity The next velocity setpoint.
-   * @return The computed feedforward.
+   * @param currentVelocity The current velocity setpoint in meters per second.
+   * @param nextVelocity The next velocity setpoint in meters per second.
+   * @return The computed feedforward in volts.
    */
   public double calculateWithVelocities(double currentVelocity, double nextVelocity) {
     // See wpimath/algorithms.md#Elevator_feedforward for derivation