diff --git a/subprojects/robotpy-wpimath/semiwrap/controls/TrapezoidProfile.yml b/subprojects/robotpy-wpimath/semiwrap/controls/TrapezoidProfile.yml
index 3d70fcebe..0796f4da1 100644
--- a/subprojects/robotpy-wpimath/semiwrap/controls/TrapezoidProfile.yml
+++ b/subprojects/robotpy-wpimath/semiwrap/controls/TrapezoidProfile.yml
@@ -48,6 +48,13 @@ classes:
       {
       std::string clsNameCopy = clsName;
 
+      cls_Constraints
+        .def("__repr__", [clsNameCopy](const Constraints &self) {
+          return clsNameCopy + ".Constraints("
+            "maxVelocity=" + std::to_string(self.maxVelocity()) + ", "
+            "maxAcceleration=" + std::to_string(self.maxAcceleration()) + ")";
+        });
+
       cls_State
         .def(
           py::init<Distance_t, Velocity_t>(),
@@ -71,23 +78,10 @@ classes:
             ignore: true
           Velocity_t, Acceleration_t:
             param_override:
-              maxVelocity_:
-                name: maxVelocity
+              maxVelocity:
                 default: '0'
-              maxAcceleration_:
-                name: maxAcceleration
+              maxAcceleration:
                 default: '0'
-    template_inline_code: |
-      {
-      std::string clsNameCopy = clsName;
-
-      cls_Constraints
-        .def("__repr__", [clsNameCopy](const Constraints &self) {
-          return clsNameCopy + ".Constraints("
-            "maxVelocity=" + std::to_string(self.maxVelocity()) + ", "
-            "maxAcceleration=" + std::to_string(self.maxAcceleration()) + ")";
-        });
-      }
   frc::TrapezoidProfile::State:
     force_no_default_constructor: true
     attributes:
diff --git a/subprojects/robotpy-wpimath/tests/test_trapezoid_profile.py b/subprojects/robotpy-wpimath/tests/test_trapezoid_profile.py
new file mode 100644
index 000000000..e28c55c95
--- /dev/null
+++ b/subprojects/robotpy-wpimath/tests/test_trapezoid_profile.py
@@ -0,0 +1,24 @@
+import pytest
+
+from wpimath import trajectory
+
+trapezoid_profile_types = [
+    trajectory.TrapezoidProfile,
+    trajectory.TrapezoidProfileRadians,
+]
+
+
+@pytest.mark.parametrize("TrapezoidProfile", trapezoid_profile_types)
+def test_constraints_repr(TrapezoidProfile):
+    expected_qualname = f"{TrapezoidProfile.__name__}.Constraints"
+    constraints = TrapezoidProfile.Constraints()
+
+    assert repr(constraints).startswith(f"{expected_qualname}(maxVelocity=0.")
+
+
+@pytest.mark.parametrize("TrapezoidProfile", trapezoid_profile_types)
+def test_state_repr(TrapezoidProfile):
+    expected_qualname = f"{TrapezoidProfile.__name__}.State"
+    constraints = TrapezoidProfile.State()
+
+    assert repr(constraints).startswith(f"{expected_qualname}(position=0.")