diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
index bf9d8083bc5..357dd80be4f 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
@@ -31,7 +31,7 @@ class SwerveControllerCommandTest : public ::testing::Test {
   frc2::Timer m_timer;
   frc::Rotation2d m_angle{0_rad};
 
-  std::array<frc::SwerveModuleState, 4> m_moduleStates{
+  wpi::array<frc::SwerveModuleState, 4> m_moduleStates{
       frc::SwerveModuleState{}, frc::SwerveModuleState{},
       frc::SwerveModuleState{}, frc::SwerveModuleState{}};
 
@@ -60,7 +60,7 @@ class SwerveControllerCommandTest : public ::testing::Test {
 
   void TearDown() override { frc::sim::ResumeTiming(); }
 
-  std::array<frc::SwerveModuleState, 4> getCurrentWheelSpeeds() {
+  wpi::array<frc::SwerveModuleState, 4> getCurrentWheelSpeeds() {
     return m_moduleStates;
   }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
index 094669d7fd0..7ef4af32416 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -65,7 +65,7 @@ void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,
 }
 
 void DriveSubsystem::SetModuleStates(
-    std::array<frc::SwerveModuleState, 4> desiredStates) {
+    wpi::array<frc::SwerveModuleState, 4> desiredStates) {
   kDriveKinematics.NormalizeWheelSpeeds(&desiredStates,
                                         AutoConstants::kMaxSpeed);
   m_frontLeft.SetDesiredState(desiredStates[0]);
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
index 1513b5ed651..9fd548cffd7 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
@@ -53,7 +53,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
   /**
    * Sets the drive SpeedControllers to a power from -1 to 1.
    */
-  void SetModuleStates(std::array<frc::SwerveModuleState, 4> desiredStates);
+  void SetModuleStates(wpi::array<frc::SwerveModuleState, 4> desiredStates);
 
   /**
    * Returns the heading of the robot.
diff --git a/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp b/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
index dd99dca221f..140ffaa1383 100644
--- a/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
+++ b/wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
@@ -8,7 +8,7 @@ namespace frc {
 
 LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
     const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
-    const std::array<double, 1>& Qelems, const std::array<double, 1>& Relems,
+    const wpi::array<double, 1>& Qelems, const wpi::array<double, 1>& Relems,
     units::second_t dt)
     : LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
                                MakeCostMatrix(Relems), dt) {}
@@ -21,7 +21,7 @@ LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
 
 LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
     const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
-    const std::array<double, 2>& Qelems, const std::array<double, 1>& Relems,
+    const wpi::array<double, 2>& Qelems, const wpi::array<double, 1>& Relems,
     units::second_t dt)
     : LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
                                MakeCostMatrix(Relems), dt) {}
diff --git a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
index 54ece5998fc..c5e50b6aaef 100644
--- a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
@@ -13,9 +13,9 @@ using namespace frc;
 
 DifferentialDrivePoseEstimator::DifferentialDrivePoseEstimator(
     const Rotation2d& gyroAngle, const Pose2d& initialPose,
-    const std::array<double, 5>& stateStdDevs,
-    const std::array<double, 3>& localMeasurementStdDevs,
-    const std::array<double, 3>& visionMeasurmentStdDevs,
+    const wpi::array<double, 5>& stateStdDevs,
+    const wpi::array<double, 3>& localMeasurementStdDevs,
+    const wpi::array<double, 3>& visionMeasurmentStdDevs,
     units::second_t nominalDt)
     : m_observer(
           &DifferentialDrivePoseEstimator::F,
@@ -46,7 +46,7 @@ DifferentialDrivePoseEstimator::DifferentialDrivePoseEstimator(
 }
 
 void DifferentialDrivePoseEstimator::SetVisionMeasurementStdDevs(
-    const std::array<double, 3>& visionMeasurmentStdDevs) {
+    const wpi::array<double, 3>& visionMeasurmentStdDevs) {
   // Create R (covariances) for vision measurements.
   Eigen::Matrix<double, 3, 3> visionContR =
       frc::MakeCovMatrix(visionMeasurmentStdDevs);
@@ -126,9 +126,9 @@ Eigen::Matrix<double, 5, 1> DifferentialDrivePoseEstimator::F(
 }
 
 template <int Dim>
-std::array<double, Dim> DifferentialDrivePoseEstimator::StdDevMatrixToArray(
+wpi::array<double, Dim> DifferentialDrivePoseEstimator::StdDevMatrixToArray(
     const Eigen::Matrix<double, Dim, 1>& stdDevs) {
-  std::array<double, Dim> array;
+  wpi::array<double, Dim> array;
   for (size_t i = 0; i < Dim; ++i) {
     array[i] = stdDevs(i);
   }
diff --git a/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp b/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
index 2ab7528cc85..1209eae0bb2 100644
--- a/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
+++ b/wpimath/src/main/native/cpp/estimator/KalmanFilter.cpp
@@ -7,14 +7,14 @@
 namespace frc {
 
 KalmanFilter<1, 1, 1>::KalmanFilter(
-    LinearSystem<1, 1, 1>& plant, const std::array<double, 1>& stateStdDevs,
-    const std::array<double, 1>& measurementStdDevs, units::second_t dt)
+    LinearSystem<1, 1, 1>& plant, const wpi::array<double, 1>& stateStdDevs,
+    const wpi::array<double, 1>& measurementStdDevs, units::second_t dt)
     : detail::KalmanFilterImpl<1, 1, 1>{plant, stateStdDevs, measurementStdDevs,
                                         dt} {}
 
 KalmanFilter<2, 1, 1>::KalmanFilter(
-    LinearSystem<2, 1, 1>& plant, const std::array<double, 2>& stateStdDevs,
-    const std::array<double, 1>& measurementStdDevs, units::second_t dt)
+    LinearSystem<2, 1, 1>& plant, const wpi::array<double, 2>& stateStdDevs,
+    const wpi::array<double, 1>& measurementStdDevs, units::second_t dt)
     : detail::KalmanFilterImpl<2, 1, 1>{plant, stateStdDevs, measurementStdDevs,
                                         dt} {}
 
diff --git a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
index 8f1fc2fa7e2..44453b390f1 100644
--- a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
@@ -14,9 +14,9 @@ using namespace frc;
 frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
     const Rotation2d& gyroAngle, const Pose2d& initialPose,
     MecanumDriveKinematics kinematics,
-    const std::array<double, 3>& stateStdDevs,
-    const std::array<double, 1>& localMeasurementStdDevs,
-    const std::array<double, 3>& visionMeasurementStdDevs,
+    const wpi::array<double, 3>& stateStdDevs,
+    const wpi::array<double, 1>& localMeasurementStdDevs,
+    const wpi::array<double, 3>& visionMeasurementStdDevs,
     units::second_t nominalDt)
     : m_observer([](const Eigen::Matrix<double, 3, 1>& x,
                     const Eigen::Matrix<double, 3, 1>& u) { return u; },
@@ -51,7 +51,7 @@ frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
 }
 
 void frc::MecanumDrivePoseEstimator::SetVisionMeasurementStdDevs(
-    const std::array<double, 3>& visionMeasurmentStdDevs) {
+    const wpi::array<double, 3>& visionMeasurmentStdDevs) {
   // Create R (covariances) for vision measurements.
   Eigen::Matrix<double, 3, 3> visionContR =
       frc::MakeCovMatrix(visionMeasurmentStdDevs);
diff --git a/wpimath/src/main/native/cpp/spline/CubicHermiteSpline.cpp b/wpimath/src/main/native/cpp/spline/CubicHermiteSpline.cpp
index 82c01c7f90d..b643849aaa6 100644
--- a/wpimath/src/main/native/cpp/spline/CubicHermiteSpline.cpp
+++ b/wpimath/src/main/native/cpp/spline/CubicHermiteSpline.cpp
@@ -7,10 +7,10 @@
 using namespace frc;
 
 CubicHermiteSpline::CubicHermiteSpline(
-    std::array<double, 2> xInitialControlVector,
-    std::array<double, 2> xFinalControlVector,
-    std::array<double, 2> yInitialControlVector,
-    std::array<double, 2> yFinalControlVector) {
+    wpi::array<double, 2> xInitialControlVector,
+    wpi::array<double, 2> xFinalControlVector,
+    wpi::array<double, 2> yInitialControlVector,
+    wpi::array<double, 2> yFinalControlVector) {
   const auto hermite = MakeHermiteBasis();
   const auto x =
       ControlVectorFromArrays(xInitialControlVector, xFinalControlVector);
diff --git a/wpimath/src/main/native/cpp/spline/QuinticHermiteSpline.cpp b/wpimath/src/main/native/cpp/spline/QuinticHermiteSpline.cpp
index d0b57233469..5362b7c6ba4 100644
--- a/wpimath/src/main/native/cpp/spline/QuinticHermiteSpline.cpp
+++ b/wpimath/src/main/native/cpp/spline/QuinticHermiteSpline.cpp
@@ -7,10 +7,10 @@
 using namespace frc;
 
 QuinticHermiteSpline::QuinticHermiteSpline(
-    std::array<double, 3> xInitialControlVector,
-    std::array<double, 3> xFinalControlVector,
-    std::array<double, 3> yInitialControlVector,
-    std::array<double, 3> yFinalControlVector) {
+    wpi::array<double, 3> xInitialControlVector,
+    wpi::array<double, 3> xFinalControlVector,
+    wpi::array<double, 3> yInitialControlVector,
+    wpi::array<double, 3> yFinalControlVector) {
   const auto hermite = MakeHermiteBasis();
   const auto x =
       ControlVectorFromArrays(xInitialControlVector, xFinalControlVector);
diff --git a/wpimath/src/main/native/cpp/spline/SplineHelper.cpp b/wpimath/src/main/native/cpp/spline/SplineHelper.cpp
index 42652b0d950..c35c58d83b4 100644
--- a/wpimath/src/main/native/cpp/spline/SplineHelper.cpp
+++ b/wpimath/src/main/native/cpp/spline/SplineHelper.cpp
@@ -13,10 +13,10 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
     const Spline<3>::ControlVector& end) {
   std::vector<CubicHermiteSpline> splines;
 
-  std::array<double, 2> xInitial = start.x;
-  std::array<double, 2> yInitial = start.y;
-  std::array<double, 2> xFinal = end.x;
-  std::array<double, 2> yFinal = end.y;
+  wpi::array<double, 2> xInitial = start.x;
+  wpi::array<double, 2> yInitial = start.y;
+  wpi::array<double, 2> xFinal = end.x;
+  wpi::array<double, 2> yFinal = end.y;
 
   if (waypoints.size() > 1) {
     waypoints.emplace(waypoints.begin(),
@@ -102,9 +102,9 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
     const double yDeriv =
         (3 * (yFinal[0] - yInitial[0]) - yFinal[1] - yInitial[1]) / 4.0;
 
-    std::array<double, 2> midXControlVector{waypoints[0].X().to<double>(),
+    wpi::array<double, 2> midXControlVector{waypoints[0].X().to<double>(),
                                             xDeriv};
-    std::array<double, 2> midYControlVector{waypoints[0].Y().to<double>(),
+    wpi::array<double, 2> midYControlVector{waypoints[0].Y().to<double>(),
                                             yDeriv};
 
     splines.emplace_back(xInitial, midXControlVector, yInitial,
@@ -134,7 +134,7 @@ SplineHelper::QuinticSplinesFromControlVectors(
   return splines;
 }
 
-std::array<Spline<3>::ControlVector, 2>
+wpi::array<Spline<3>::ControlVector, 2>
 SplineHelper::CubicControlVectorsFromWaypoints(
     const Pose2d& start, const std::vector<Translation2d>& interiorWaypoints,
     const Pose2d& end) {
diff --git a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
index df7a721b7a2..9662710c1e2 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <array>
+#include <wpi/array.h>
 
 #include "Eigen/Core"
 #include "Eigen/src/Cholesky/LLT.h"
@@ -44,8 +44,8 @@ class LinearQuadraticRegulatorImpl {
   template <int Outputs>
   LinearQuadraticRegulatorImpl(
       const LinearSystem<States, Inputs, Outputs>& plant,
-      const std::array<double, States>& Qelems,
-      const std::array<double, Inputs>& Relems, units::second_t dt)
+      const wpi::array<double, States>& Qelems,
+      const wpi::array<double, Inputs>& Relems, units::second_t dt)
       : LinearQuadraticRegulatorImpl(plant.A(), plant.B(), Qelems, Relems, dt) {
   }
 
@@ -60,8 +60,8 @@ class LinearQuadraticRegulatorImpl {
    */
   LinearQuadraticRegulatorImpl(const Eigen::Matrix<double, States, States>& A,
                                const Eigen::Matrix<double, States, Inputs>& B,
-                               const std::array<double, States>& Qelems,
-                               const std::array<double, Inputs>& Relems,
+                               const wpi::array<double, States>& Qelems,
+                               const wpi::array<double, Inputs>& Relems,
                                units::second_t dt)
       : LinearQuadraticRegulatorImpl(A, B, MakeCostMatrix(Qelems),
                                      MakeCostMatrix(Relems), dt) {}
@@ -226,8 +226,8 @@ class LinearQuadraticRegulator
    */
   template <int Outputs>
   LinearQuadraticRegulator(const LinearSystem<States, Inputs, Outputs>& plant,
-                           const std::array<double, States>& Qelems,
-                           const std::array<double, Inputs>& Relems,
+                           const wpi::array<double, States>& Qelems,
+                           const wpi::array<double, Inputs>& Relems,
                            units::second_t dt)
       : LinearQuadraticRegulator(plant.A(), plant.B(), Qelems, Relems, dt) {}
 
@@ -242,8 +242,8 @@ class LinearQuadraticRegulator
    */
   LinearQuadraticRegulator(const Eigen::Matrix<double, States, States>& A,
                            const Eigen::Matrix<double, States, Inputs>& B,
-                           const std::array<double, States>& Qelems,
-                           const std::array<double, Inputs>& Relems,
+                           const wpi::array<double, States>& Qelems,
+                           const wpi::array<double, Inputs>& Relems,
                            units::second_t dt)
       : LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
                                  MakeCostMatrix(Relems), dt) {}
@@ -276,15 +276,15 @@ class LinearQuadraticRegulator<1, 1>
  public:
   template <int Outputs>
   LinearQuadraticRegulator(const LinearSystem<1, 1, Outputs>& plant,
-                           const std::array<double, 1>& Qelems,
-                           const std::array<double, 1>& Relems,
+                           const wpi::array<double, 1>& Qelems,
+                           const wpi::array<double, 1>& Relems,
                            units::second_t dt)
       : LinearQuadraticRegulator(plant.A(), plant.B(), Qelems, Relems, dt) {}
 
   LinearQuadraticRegulator(const Eigen::Matrix<double, 1, 1>& A,
                            const Eigen::Matrix<double, 1, 1>& B,
-                           const std::array<double, 1>& Qelems,
-                           const std::array<double, 1>& Relems,
+                           const wpi::array<double, 1>& Qelems,
+                           const wpi::array<double, 1>& Relems,
                            units::second_t dt);
 
   LinearQuadraticRegulator(const Eigen::Matrix<double, 1, 1>& A,
@@ -305,15 +305,15 @@ class LinearQuadraticRegulator<2, 1>
  public:
   template <int Outputs>
   LinearQuadraticRegulator(const LinearSystem<2, 1, Outputs>& plant,
-                           const std::array<double, 2>& Qelems,
-                           const std::array<double, 1>& Relems,
+                           const wpi::array<double, 2>& Qelems,
+                           const wpi::array<double, 1>& Relems,
                            units::second_t dt)
       : LinearQuadraticRegulator(plant.A(), plant.B(), Qelems, Relems, dt) {}
 
   LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,
                            const Eigen::Matrix<double, 2, 1>& B,
-                           const std::array<double, 2>& Qelems,
-                           const std::array<double, 1>& Relems,
+                           const wpi::array<double, 2>& Qelems,
+                           const wpi::array<double, 1>& Relems,
                            units::second_t dt);
 
   LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,
diff --git a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
index 91fe669a0cf..ced768a4d48 100644
--- a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <array>
+#include <wpi/array.h>
 
 #include "Eigen/Core"
 #include "frc/estimator/KalmanFilterLatencyCompensator.h"
@@ -74,9 +74,9 @@ class DifferentialDrivePoseEstimator {
    */
   DifferentialDrivePoseEstimator(
       const Rotation2d& gyroAngle, const Pose2d& initialPose,
-      const std::array<double, 5>& stateStdDevs,
-      const std::array<double, 3>& localMeasurementStdDevs,
-      const std::array<double, 3>& visionMeasurementStdDevs,
+      const wpi::array<double, 5>& stateStdDevs,
+      const wpi::array<double, 3>& localMeasurementStdDevs,
+      const wpi::array<double, 3>& visionMeasurementStdDevs,
       units::second_t nominalDt = 0.02_s);
 
   /**
@@ -92,7 +92,7 @@ class DifferentialDrivePoseEstimator {
    *                                 radians.
    */
   void SetVisionMeasurementStdDevs(
-      const std::array<double, 3>& visionMeasurementStdDevs);
+      const wpi::array<double, 3>& visionMeasurementStdDevs);
 
   /**
    * Resets the robot's position on the field.
@@ -183,7 +183,7 @@ class DifferentialDrivePoseEstimator {
   Rotation2d m_previousAngle;
 
   template <int Dim>
-  static std::array<double, Dim> StdDevMatrixToArray(
+  static wpi::array<double, Dim> StdDevMatrixToArray(
       const Eigen::Matrix<double, Dim, 1>& stdDevs);
 
   static Eigen::Matrix<double, 5, 1> F(const Eigen::Matrix<double, 5, 1>& x,
diff --git a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
index d56ca7e6670..ac8ddc86ed9 100644
--- a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
@@ -4,9 +4,10 @@
 
 #pragma once
 
-#include <array>
 #include <functional>
 
+#include <wpi/array.h>
+
 #include "Eigen/Core"
 #include "Eigen/src/Cholesky/LDLT.h"
 #include "drake/math/discrete_algebraic_riccati_equation.h"
@@ -40,8 +41,8 @@ class ExtendedKalmanFilter {
                            const Eigen::Matrix<double, States, 1>&,
                            const Eigen::Matrix<double, Inputs, 1>&)>
                            h,
-                       const std::array<double, States>& stateStdDevs,
-                       const std::array<double, Outputs>& measurementStdDevs,
+                       const wpi::array<double, States>& stateStdDevs,
+                       const wpi::array<double, Outputs>& measurementStdDevs,
                        units::second_t dt)
       : m_f(f), m_h(h) {
     m_contQ = MakeCovMatrix(stateStdDevs);
diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
index 84c5923f26a..2e8a7afe545 100644
--- a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
@@ -4,9 +4,10 @@
 
 #pragma once
 
-#include <array>
 #include <cmath>
 
+#include <wpi/array.h>
+
 #include "Eigen/Core"
 #include "Eigen/src/Cholesky/LDLT.h"
 #include "drake/math/discrete_algebraic_riccati_equation.h"
@@ -47,8 +48,8 @@ class KalmanFilterImpl {
    * @param dt                 Nominal discretization timestep.
    */
   KalmanFilterImpl(LinearSystem<States, Inputs, Outputs>& plant,
-                   const std::array<double, States>& stateStdDevs,
-                   const std::array<double, Outputs>& measurementStdDevs,
+                   const wpi::array<double, States>& stateStdDevs,
+                   const wpi::array<double, Outputs>& measurementStdDevs,
                    units::second_t dt) {
     m_plant = &plant;
 
@@ -193,8 +194,8 @@ class KalmanFilter : public detail::KalmanFilterImpl<States, Inputs, Outputs> {
    * @param dt                 Nominal discretization timestep.
    */
   KalmanFilter(LinearSystem<States, Inputs, Outputs>& plant,
-               const std::array<double, States>& stateStdDevs,
-               const std::array<double, Outputs>& measurementStdDevs,
+               const wpi::array<double, States>& stateStdDevs,
+               const wpi::array<double, Outputs>& measurementStdDevs,
                units::second_t dt)
       : detail::KalmanFilterImpl<States, Inputs, Outputs>{
             plant, stateStdDevs, measurementStdDevs, dt} {}
@@ -209,8 +210,8 @@ template <>
 class KalmanFilter<1, 1, 1> : public detail::KalmanFilterImpl<1, 1, 1> {
  public:
   KalmanFilter(LinearSystem<1, 1, 1>& plant,
-               const std::array<double, 1>& stateStdDevs,
-               const std::array<double, 1>& measurementStdDevs,
+               const wpi::array<double, 1>& stateStdDevs,
+               const wpi::array<double, 1>& measurementStdDevs,
                units::second_t dt);
 
   KalmanFilter(KalmanFilter&&) = default;
@@ -223,8 +224,8 @@ template <>
 class KalmanFilter<2, 1, 1> : public detail::KalmanFilterImpl<2, 1, 1> {
  public:
   KalmanFilter(LinearSystem<2, 1, 1>& plant,
-               const std::array<double, 2>& stateStdDevs,
-               const std::array<double, 1>& measurementStdDevs,
+               const wpi::array<double, 2>& stateStdDevs,
+               const wpi::array<double, 1>& measurementStdDevs,
                units::second_t dt);
 
   KalmanFilter(KalmanFilter&&) = default;
diff --git a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
index c8b08963fa1..c7fb8590bae 100644
--- a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
@@ -6,6 +6,8 @@
 
 #include <functional>
 
+#include <wpi/array.h>
+
 #include "Eigen/Core"
 #include "frc/estimator/KalmanFilterLatencyCompensator.h"
 #include "frc/estimator/UnscentedKalmanFilter.h"
@@ -71,9 +73,9 @@ class MecanumDrivePoseEstimator {
   MecanumDrivePoseEstimator(
       const Rotation2d& gyroAngle, const Pose2d& initialPose,
       MecanumDriveKinematics kinematics,
-      const std::array<double, 3>& stateStdDevs,
-      const std::array<double, 1>& localMeasurementStdDevs,
-      const std::array<double, 3>& visionMeasurementStdDevs,
+      const wpi::array<double, 3>& stateStdDevs,
+      const wpi::array<double, 1>& localMeasurementStdDevs,
+      const wpi::array<double, 3>& visionMeasurementStdDevs,
       units::second_t nominalDt = 0.02_s);
 
   /**
@@ -89,7 +91,7 @@ class MecanumDrivePoseEstimator {
    *                                 radians.
    */
   void SetVisionMeasurementStdDevs(
-      const std::array<double, 3>& visionMeasurementStdDevs);
+      const wpi::array<double, 3>& visionMeasurementStdDevs);
 
   /**
    * Resets the robot's position on the field.
@@ -177,9 +179,9 @@ class MecanumDrivePoseEstimator {
   Rotation2d m_previousAngle;
 
   template <int Dim>
-  static std::array<double, Dim> StdDevMatrixToArray(
+  static wpi::array<double, Dim> StdDevMatrixToArray(
       const Eigen::Matrix<double, Dim, 1>& vector) {
-    std::array<double, Dim> array;
+    wpi::array<double, Dim> array;
     for (size_t i = 0; i < Dim; ++i) {
       array[i] = vector(i);
     }
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 4a86b5af618..c776f48c325 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -4,9 +4,9 @@
 
 #pragma once
 
-#include <array>
 #include <limits>
 
+#include <wpi/array.h>
 #include <wpi/timestamp.h>
 
 #include "Eigen/Core"
@@ -77,9 +77,9 @@ class SwerveDrivePoseEstimator {
   SwerveDrivePoseEstimator(
       const Rotation2d& gyroAngle, const Pose2d& initialPose,
       SwerveDriveKinematics<NumModules>& kinematics,
-      const std::array<double, 3>& stateStdDevs,
-      const std::array<double, 1>& localMeasurementStdDevs,
-      const std::array<double, 3>& visionMeasurementStdDevs,
+      const wpi::array<double, 3>& stateStdDevs,
+      const wpi::array<double, 1>& localMeasurementStdDevs,
+      const wpi::array<double, 3>& visionMeasurementStdDevs,
       units::second_t nominalDt = 0.02_s)
       : m_observer([](const Eigen::Matrix<double, 3, 1>& x,
                       const Eigen::Matrix<double, 3, 1>& u) { return u; },
@@ -158,7 +158,7 @@ class SwerveDrivePoseEstimator {
    *                                 radians.
    */
   void SetVisionMeasurementStdDevs(
-      const std::array<double, 3>& visionMeasurementStdDevs) {
+      const wpi::array<double, 3>& visionMeasurementStdDevs) {
     // Create R (covariances) for vision measurements.
     Eigen::Matrix<double, 3, 3> visionContR =
         frc::MakeCovMatrix(visionMeasurementStdDevs);
@@ -266,9 +266,9 @@ class SwerveDrivePoseEstimator {
   Rotation2d m_previousAngle;
 
   template <int Dim>
-  static std::array<double, Dim> StdDevMatrixToArray(
+  static wpi::array<double, Dim> StdDevMatrixToArray(
       const Eigen::Matrix<double, Dim, 1>& vector) {
-    std::array<double, Dim> array;
+    wpi::array<double, Dim> array;
     for (size_t i = 0; i < Dim; ++i) {
       array[i] = vector(i);
     }
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
index 33a24c19bd8..b5c1e51899e 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
@@ -4,9 +4,10 @@
 
 #pragma once
 
-#include <array>
 #include <functional>
 
+#include <wpi/array.h>
+
 #include "Eigen/Core"
 #include "Eigen/src/Cholesky/LDLT.h"
 #include "frc/StateSpaceUtil.h"
@@ -41,8 +42,8 @@ class UnscentedKalmanFilter {
                             const Eigen::Matrix<double, States, 1>&,
                             const Eigen::Matrix<double, Inputs, 1>&)>
                             h,
-                        const std::array<double, States>& stateStdDevs,
-                        const std::array<double, Outputs>& measurementStdDevs,
+                        const wpi::array<double, States>& stateStdDevs,
+                        const wpi::array<double, Outputs>& measurementStdDevs,
                         units::second_t dt)
       : m_f(f), m_h(h) {
     m_contQ = MakeCovMatrix(stateStdDevs);
@@ -101,8 +102,8 @@ class UnscentedKalmanFilter {
           const Eigen::Matrix<double, States, 1>&,
           const Eigen::Matrix<double, Inputs, 1>&)>
           h,
-      const std::array<double, States>& stateStdDevs,
-      const std::array<double, Outputs>& measurementStdDevs,
+      const wpi::array<double, States>& stateStdDevs,
+      const wpi::array<double, Outputs>& measurementStdDevs,
       std::function<Eigen::Matrix<double, States, 1>(
           const Eigen::Matrix<double, States, 2 * States + 1>&,
           const Eigen::Matrix<double, 2 * States + 1, 1>&)>
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
index 5660dc8bdc5..11298a1355f 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -4,9 +4,10 @@
 
 #pragma once
 
-#include <array>
 #include <cstddef>
 
+#include <wpi/array.h>
+
 #include "Eigen/Core"
 #include "Eigen/QR"
 #include "frc/geometry/Rotation2d.h"
@@ -74,7 +75,7 @@ class SwerveDriveKinematics {
   }
 
   explicit SwerveDriveKinematics(
-      const std::array<Translation2d, NumModules>& wheels)
+      const wpi::array<Translation2d, NumModules>& wheels)
       : m_modules{wheels} {
     for (size_t i = 0; i < NumModules; i++) {
       // clang-format off
@@ -119,7 +120,7 @@ class SwerveDriveKinematics {
    * auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(chassisSpeeds);
    * @endcode
    */
-  std::array<SwerveModuleState, NumModules> ToSwerveModuleStates(
+  wpi::array<SwerveModuleState, NumModules> ToSwerveModuleStates(
       const ChassisSpeeds& chassisSpeeds,
       const Translation2d& centerOfRotation = Translation2d()) const;
 
@@ -144,7 +145,7 @@ class SwerveDriveKinematics {
    * the robot's position on the field using data from the real-world speed and
    * angle of each module on the robot.
    *
-   * @param moduleStates The state of the modules as an std::array of type
+   * @param moduleStates The state of the modules as an wpi::array of type
    * SwerveModuleState, NumModules long as measured from respective encoders
    * and gyros. The order of the swerve module states should be same as passed
    * into the constructor of this class.
@@ -152,7 +153,7 @@ class SwerveDriveKinematics {
    * @return The resulting chassis speed.
    */
   ChassisSpeeds ToChassisSpeeds(
-      std::array<SwerveModuleState, NumModules> moduleStates) const;
+      wpi::array<SwerveModuleState, NumModules> moduleStates) const;
 
   /**
    * Normalizes the wheel speeds using some max attainable speed. Sometimes,
@@ -167,14 +168,14 @@ class SwerveDriveKinematics {
    * @param attainableMaxSpeed The absolute max speed that a module can reach.
    */
   static void NormalizeWheelSpeeds(
-      std::array<SwerveModuleState, NumModules>* moduleStates,
+      wpi::array<SwerveModuleState, NumModules>* moduleStates,
       units::meters_per_second_t attainableMaxSpeed);
 
  private:
   mutable Eigen::Matrix<double, NumModules * 2, 3> m_inverseKinematics;
   Eigen::HouseholderQR<Eigen::Matrix<double, NumModules * 2, 3>>
       m_forwardKinematics;
-  std::array<Translation2d, NumModules> m_modules;
+  wpi::array<Translation2d, NumModules> m_modules;
 
   mutable Translation2d m_previousCoR;
 };
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
index 9fbbc9ef6c0..374db562d7d 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
@@ -16,7 +16,7 @@ SwerveDriveKinematics(Translation2d, Wheels...)
     -> SwerveDriveKinematics<1 + sizeof...(Wheels)>;
 
 template <size_t NumModules>
-std::array<SwerveModuleState, NumModules>
+wpi::array<SwerveModuleState, NumModules>
 SwerveDriveKinematics<NumModules>::ToSwerveModuleStates(
     const ChassisSpeeds& chassisSpeeds,
     const Translation2d& centerOfRotation) const {
@@ -38,7 +38,7 @@ SwerveDriveKinematics<NumModules>::ToSwerveModuleStates(
 
   Eigen::Matrix<double, NumModules * 2, 1> moduleStatesMatrix =
       m_inverseKinematics * chassisSpeedsVector;
-  std::array<SwerveModuleState, NumModules> moduleStates;
+  wpi::array<SwerveModuleState, NumModules> moduleStates{wpi::empty_array};
 
   for (size_t i = 0; i < NumModules; i++) {
     units::meters_per_second_t x =
@@ -63,14 +63,14 @@ ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
                 "Number of modules is not consistent with number of wheel "
                 "locations provided in constructor.");
 
-  std::array<SwerveModuleState, NumModules> moduleStates{wheelStates...};
+  wpi::array<SwerveModuleState, NumModules> moduleStates{wheelStates...};
 
   return this->ToChassisSpeeds(moduleStates);
 }
 
 template <size_t NumModules>
 ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
-    std::array<SwerveModuleState, NumModules> moduleStates) const {
+    wpi::array<SwerveModuleState, NumModules> moduleStates) const {
   Eigen::Matrix<double, NumModules * 2, 1> moduleStatesMatrix;
 
   for (size_t i = 0; i < NumModules; i++) {
@@ -91,7 +91,7 @@ ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
 
 template <size_t NumModules>
 void SwerveDriveKinematics<NumModules>::NormalizeWheelSpeeds(
-    std::array<SwerveModuleState, NumModules>* moduleStates,
+    wpi::array<SwerveModuleState, NumModules>* moduleStates,
     units::meters_per_second_t attainableMaxSpeed) {
   auto& states = *moduleStates;
   auto realMaxSpeed = std::max_element(states.begin(), states.end(),
diff --git a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
index 38f3840f563..c30a8a89a84 100644
--- a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <array>
+#include <wpi/array.h>
 
 #include "Eigen/Core"
 #include "frc/spline/Spline.h"
@@ -29,10 +29,10 @@ class CubicHermiteSpline : public Spline<3> {
    * @param yFinalControlVector The control vector for the final point in
    * the y dimension.
    */
-  CubicHermiteSpline(std::array<double, 2> xInitialControlVector,
-                     std::array<double, 2> xFinalControlVector,
-                     std::array<double, 2> yInitialControlVector,
-                     std::array<double, 2> yFinalControlVector);
+  CubicHermiteSpline(wpi::array<double, 2> xInitialControlVector,
+                     wpi::array<double, 2> xFinalControlVector,
+                     wpi::array<double, 2> yInitialControlVector,
+                     wpi::array<double, 2> yFinalControlVector);
 
  protected:
   /**
@@ -72,7 +72,7 @@ class CubicHermiteSpline : public Spline<3> {
    * @return The control vector matrix for a dimension.
    */
   static Eigen::Vector4d ControlVectorFromArrays(
-      std::array<double, 2> initialVector, std::array<double, 2> finalVector) {
+      wpi::array<double, 2> initialVector, wpi::array<double, 2> finalVector) {
     return (Eigen::Vector4d() << initialVector[0], initialVector[1],
             finalVector[0], finalVector[1])
         .finished();
diff --git a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
index 0a85be63271..ff9369ce27b 100644
--- a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <array>
+#include <wpi/array.h>
 
 #include "Eigen/Core"
 #include "frc/spline/Spline.h"
@@ -29,10 +29,10 @@ class QuinticHermiteSpline : public Spline<5> {
    * @param yFinalControlVector The control vector for the final point in
    * the y dimension.
    */
-  QuinticHermiteSpline(std::array<double, 3> xInitialControlVector,
-                       std::array<double, 3> xFinalControlVector,
-                       std::array<double, 3> yInitialControlVector,
-                       std::array<double, 3> yFinalControlVector);
+  QuinticHermiteSpline(wpi::array<double, 3> xInitialControlVector,
+                       wpi::array<double, 3> xFinalControlVector,
+                       wpi::array<double, 3> yInitialControlVector,
+                       wpi::array<double, 3> yFinalControlVector);
 
  protected:
   /**
@@ -74,7 +74,7 @@ class QuinticHermiteSpline : public Spline<5> {
    * @return The control vector matrix for a dimension.
    */
   static Eigen::Matrix<double, 6, 1> ControlVectorFromArrays(
-      std::array<double, 3> initialVector, std::array<double, 3> finalVector) {
+      wpi::array<double, 3> initialVector, wpi::array<double, 3> finalVector) {
     return (Eigen::Matrix<double, 6, 1>() << initialVector[0], initialVector[1],
             initialVector[2], finalVector[0], finalVector[1], finalVector[2])
         .finished();
diff --git a/wpimath/src/main/native/include/frc/spline/Spline.h b/wpimath/src/main/native/include/frc/spline/Spline.h
index d048aed4749..a04564ac4d0 100644
--- a/wpimath/src/main/native/include/frc/spline/Spline.h
+++ b/wpimath/src/main/native/include/frc/spline/Spline.h
@@ -4,10 +4,11 @@
 
 #pragma once
 
-#include <array>
 #include <utility>
 #include <vector>
 
+#include <wpi/array.h>
+
 #include "Eigen/Core"
 #include "frc/geometry/Pose2d.h"
 #include "units/curvature.h"
@@ -43,8 +44,8 @@ class Spline {
    * dimension.
    */
   struct ControlVector {
-    std::array<double, (Degree + 1) / 2> x;
-    std::array<double, (Degree + 1) / 2> y;
+    wpi::array<double, (Degree + 1) / 2> x;
+    wpi::array<double, (Degree + 1) / 2> y;
   };
 
   /**
diff --git a/wpimath/src/main/native/include/frc/spline/SplineHelper.h b/wpimath/src/main/native/include/frc/spline/SplineHelper.h
index d6dc3c69483..4af3a8a9f8b 100644
--- a/wpimath/src/main/native/include/frc/spline/SplineHelper.h
+++ b/wpimath/src/main/native/include/frc/spline/SplineHelper.h
@@ -4,10 +4,11 @@
 
 #pragma once
 
-#include <array>
 #include <utility>
 #include <vector>
 
+#include <wpi/array.h>
+
 #include "frc/spline/CubicHermiteSpline.h"
 #include "frc/spline/QuinticHermiteSpline.h"
 
@@ -27,7 +28,7 @@ class SplineHelper {
    * @param end               The ending pose.
    * @return 2 cubic control vectors.
    */
-  static std::array<Spline<3>::ControlVector, 2>
+  static wpi::array<Spline<3>::ControlVector, 2>
   CubicControlVectorsFromWaypoints(
       const Pose2d& start, const std::vector<Translation2d>& interiorWaypoints,
       const Pose2d& end);
diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
index 20ad4407f1b..18923a96ba1 100644
--- a/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
@@ -168,7 +168,7 @@ TEST_F(SwerveDriveKinematicsTest, NormalizeTest) {
   SwerveModuleState state3{4.0_mps, Rotation2d()};
   SwerveModuleState state4{7.0_mps, Rotation2d()};
 
-  std::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
+  wpi::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
   SwerveDriveKinematics<4>::NormalizeWheelSpeeds(&arr, 5.5_mps);
 
   double kFactor = 5.5 / 7.0;
diff --git a/wpiutil/src/main/native/include/wpi/array.h b/wpiutil/src/main/native/include/wpi/array.h
new file mode 100644
index 00000000000..5a0337179c6
--- /dev/null
+++ b/wpiutil/src/main/native/include/wpi/array.h
@@ -0,0 +1,101 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <array>
+#include <cstddef>
+#include <tuple>
+#include <utility>
+
+namespace wpi {
+
+struct empty_array_t {};
+constexpr empty_array_t empty_array;
+
+/**
+ * This class is a wrapper around std::array that does compile time size
+ * checking.
+ *
+ * std::array's implicit constructor can lead result in uninitialized elements
+ * if the number of arguments doesn't match the std::array size.
+ */
+template <typename T, size_t N>
+class array : public std::array<T, N> {
+ public:
+  explicit array(empty_array_t) {}
+
+  template <typename... Ts>
+  array(T arg, Ts&&... args)  // NOLINT
+      : std::array<T, N>{arg, std::forward<Ts>(args)...} {
+    static_assert(1 + sizeof...(args) == N, "Dimension mismatch");
+  }
+
+  array(const array<T, N>&) = default;
+  array& operator=(const array<T, N>&) = default;
+  array(array<T, N>&&) = default;
+  array& operator=(array<T, N>&&) = default;
+
+  array(const std::array<T, N>& rhs) {  // NOLINT
+    *static_cast<std::array<T, N>*>(this) = rhs;
+  }
+
+  array& operator=(const std::array<T, N>& rhs) {
+    *static_cast<std::array<T, N>*>(this) = rhs;
+    return *this;
+  }
+
+  array(std::array<T, N>&& rhs) {  // NOLINT
+    *static_cast<std::array<T, N>*>(this) = rhs;
+  }
+
+  array& operator=(std::array<T, N>&& rhs) {
+    *static_cast<std::array<T, N>*>(this) = rhs;
+    return *this;
+  }
+};
+
+template <typename T, typename... Ts>
+array(T, Ts...) -> array<std::enable_if_t<(std::is_same_v<T, Ts> && ...), T>,
+                         1 + sizeof...(Ts)>;
+
+}  // namespace wpi
+
+template <size_t I, typename T, size_t N>
+constexpr T& get(wpi::array<T, N>& arr) noexcept {
+  static_assert(I < N, "array index is within bounds");
+  return std::get<I>(static_cast<std::array<T, N>>(arr));
+}
+
+template <size_t I, typename T, size_t N>
+constexpr T&& get(wpi::array<T, N>&& arr) noexcept {
+  static_assert(I < N, "array index is within bounds");
+  return std::move(std::get<I>(arr));
+}
+
+template <size_t I, typename T, size_t N>
+constexpr const T& get(const wpi::array<T, N>& arr) noexcept {
+  static_assert(I < N, "array index is within bounds");
+  return std::get<I>(static_cast<std::array<T, N>>(arr));
+}
+
+template <size_t I, typename T, size_t N>
+constexpr const T&& get(const wpi::array<T, N>&& arr) noexcept {
+  static_assert(I < N, "array index is within bounds");
+  return std::move(std::get<I>(arr));
+}
+
+// Enables structured bindings
+namespace std {  // NOLINT
+// Partial specialization for wpi::array
+template <typename T, size_t N>
+struct tuple_size<wpi::array<T, N>> : public integral_constant<size_t, N> {};
+
+// Partial specialization for wpi::array
+template <size_t I, typename T, size_t N>
+struct tuple_element<I, wpi::array<T, N>> {
+  static_assert(I < N, "index is out of bounds");
+  using type = T;
+};
+}  // namespace std