diff --git a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconCTRE.kt b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconCTRE.kt
index 8a20354a..25f3088e 100644
--- a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconCTRE.kt
+++ b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconCTRE.kt
@@ -13,6 +13,7 @@ import com.ctre.phoenix.motorcontrol.DemandType
 import com.ctre.phoenix.motorcontrol.IMotorController
 import com.ctre.phoenix.motorcontrol.NeutralMode
 import com.ctre.phoenix.motorcontrol.StatusFrame
+import edu.wpi.first.wpilibj.RobotController
 import kotlin.math.roundToInt
 import kotlin.properties.Delegates
 import org.ghrobotics.lib.mathematics.units.SIKey
@@ -40,8 +41,10 @@ import org.ghrobotics.lib.motors.FalconMotor
  */
 abstract class FalconCTRE<K : SIKey>(
     val motorController: IMotorController,
-    private val model: NativeUnitModel<K>
-) : AbstractFalconMotor<K>() {
+    private val model: NativeUnitModel<K>,
+    units: K,
+    simName: String = "FalconCTRE[${motorController.deviceID}]"
+) : AbstractFalconMotor<K>(simName) {
 
     /**
      * The previous demand.
@@ -52,13 +55,14 @@ abstract class FalconCTRE<K : SIKey>(
     /**
      * The encoder (if any) that is connected to the motor controller.
      */
-    override val encoder = FalconCTREEncoder(motorController, 0, model)
+    override val encoder = FalconCTREEncoder(motorController, 0, model, units)
 
     /**
      * Returns the voltage across the motor windings.
      */
     override val voltageOutput: SIUnit<Volt>
-        get() = motorController.motorOutputVoltage.volts
+        get() = if (simVoltageOutput != null) simVoltageOutput.get().volts else
+            motorController.motorOutputVoltage.volts
 
     /**
      * Whether the output of the motor is inverted or not. Slaves do not
@@ -193,13 +197,19 @@ abstract class FalconCTRE<K : SIKey>(
      * @param voltage The voltage to set.
      * @param arbitraryFeedForward The arbitrary feedforward to add to the motor output.
      */
-    override fun setVoltage(voltage: SIUnit<Volt>, arbitraryFeedForward: SIUnit<Volt>) =
+    override fun setVoltage(voltage: SIUnit<Volt>, arbitraryFeedForward: SIUnit<Volt>) {
+        if (simVoltageOutput != null) {
+            simVoltageOutput.set(voltage.value + arbitraryFeedForward.value)
+            return
+        }
+
         sendDemand(
-            Demand(
-                ControlMode.PercentOutput, (voltage / voltageCompSaturation).unitlessValue,
-                DemandType.ArbitraryFeedForward, (arbitraryFeedForward / voltageCompSaturation).unitlessValue
-            )
+                Demand(
+                    ControlMode.PercentOutput, (voltage / voltageCompSaturation).unitlessValue,
+                    DemandType.ArbitraryFeedForward, (arbitraryFeedForward / voltageCompSaturation).unitlessValue
+                )
         )
+    }
 
     /**
      * Commands a certain duty cycle to the motor.
@@ -207,13 +217,19 @@ abstract class FalconCTRE<K : SIKey>(
      * @param dutyCycle The duty cycle to command.
      * @param arbitraryFeedForward The arbitrary feedforward to add to the motor output.
      */
-    override fun setDutyCycle(dutyCycle: Double, arbitraryFeedForward: SIUnit<Volt>) =
+    override fun setDutyCycle(dutyCycle: Double, arbitraryFeedForward: SIUnit<Volt>) {
+        if (simVoltageOutput != null) {
+            simVoltageOutput.set(dutyCycle * RobotController.getBatteryVoltage() + arbitraryFeedForward.value)
+            return
+        }
+
         sendDemand(
             Demand(
                 ControlMode.PercentOutput, dutyCycle,
                 DemandType.ArbitraryFeedForward, (arbitraryFeedForward / voltageCompSaturation).unitlessValue
             )
         )
+    }
 
     /**
      * Sets the velocity setpoint of the motor controller.
diff --git a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconCTREEncoder.kt b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconCTREEncoder.kt
index 44c9977e..97afd41e 100644
--- a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconCTREEncoder.kt
+++ b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconCTREEncoder.kt
@@ -30,8 +30,9 @@ import org.ghrobotics.lib.motors.AbstractFalconEncoder
 class FalconCTREEncoder<K : SIKey>(
     private val motorController: IMotorController,
     private val pidIdx: Int = 0,
-    model: NativeUnitModel<K>
-) : AbstractFalconEncoder<K>(model) {
+    model: NativeUnitModel<K>,
+    units: K
+) : AbstractFalconEncoder<K>(model, units, "FalconCTREEncoder[${motorController.deviceID}]") {
     /**
      * Returns the raw velocity from the encoder.
      */
diff --git a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconFX.kt b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconFX.kt
index ab1dfd8e..841479f4 100644
--- a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconFX.kt
+++ b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconFX.kt
@@ -30,8 +30,9 @@ import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitModel
 @Suppress("Unused")
 class FalconFX<K : SIKey>(
     @Suppress("MemberVisibilityCanBePrivate") val talonFX: TalonFX,
-    model: NativeUnitModel<K>
-) : FalconCTRE<K>(talonFX, model) {
+    model: NativeUnitModel<K>,
+    units: K
+) : FalconCTRE<K>(talonFX, model, units, "FalconFX[${talonFX.deviceID}]") {
 
     /**
      * Alternate constructor where users can supply ID and native unit model.
@@ -39,7 +40,7 @@ class FalconFX<K : SIKey>(
      * @param id The ID of the motor controller.
      * @param model The native unit model.
      */
-    constructor(id: Int, model: NativeUnitModel<K>) : this(TalonFX(id), model)
+    constructor(id: Int, model: NativeUnitModel<K>, units: K) : this(TalonFX(id), model, units)
 
     /**
      * Configures the feedback device for the motor controller.
@@ -93,11 +94,13 @@ class FalconFX<K : SIKey>(
 fun <K : SIKey> falconFX(
     talonFX: TalonFX,
     model: NativeUnitModel<K>,
+    units: K,
     block: FalconFX<K>.() -> Unit
-) = FalconFX(talonFX, model).also(block)
+) = FalconFX(talonFX, model, units).also(block)
 
 fun <K : SIKey> falconFX(
     id: Int,
     model: NativeUnitModel<K>,
+    units: K,
     block: FalconFX<K>.() -> Unit
-) = FalconFX(id, model).also(block)
+) = FalconFX(id, model, units).also(block)
diff --git a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconSPX.kt b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconSPX.kt
index 796cec69..09fcd0ca 100644
--- a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconSPX.kt
+++ b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconSPX.kt
@@ -24,8 +24,9 @@ import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitModel
  */
 class FalconSPX<K : SIKey>(
     @Suppress("MemberVisibilityCanBePrivate") val victorSPX: VictorSPX,
-    model: NativeUnitModel<K>
-) : FalconCTRE<K>(victorSPX, model) {
+    model: NativeUnitModel<K>,
+    units: K
+) : FalconCTRE<K>(victorSPX, model, units, "FalconSPX[${victorSPX.deviceID}]") {
 
     /**
      * Alternate constructor where users can supply ID and native unit model.
@@ -33,7 +34,7 @@ class FalconSPX<K : SIKey>(
      * @param id The ID of the motor controller.
      * @param model The native unit model.
      */
-    constructor(id: Int, model: NativeUnitModel<K>) : this(VictorSPX(id), model)
+    constructor(id: Int, model: NativeUnitModel<K>, units: K) : this(VictorSPX(id), model, units)
 
     /**
      * Returns the current drawn by the motor.
@@ -48,11 +49,13 @@ class FalconSPX<K : SIKey>(
 fun <K : SIKey> falconSPX(
     victorSPX: VictorSPX,
     model: NativeUnitModel<K>,
+    units: K,
     block: FalconSPX<K>.() -> Unit
-) = FalconSPX(victorSPX, model).also(block)
+) = FalconSPX(victorSPX, model, units).also(block)
 
 fun <K : SIKey> falconSPX(
     id: Int,
     model: NativeUnitModel<K>,
+    units: K,
     block: FalconSPX<K>.() -> Unit
-) = FalconSPX(id, model).also(block)
+) = FalconSPX(id, model, units).also(block)
diff --git a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconSRX.kt b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconSRX.kt
index 3b71fa21..8ec08c87 100644
--- a/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconSRX.kt
+++ b/vendorCTRE/src/main/kotlin/org/ghrobotics/lib/motors/ctre/FalconSRX.kt
@@ -30,8 +30,9 @@ import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitModel
 @Suppress("Unused")
 class FalconSRX<K : SIKey>(
     @Suppress("MemberVisibilityCanBePrivate") val talonSRX: TalonSRX,
-    model: NativeUnitModel<K>
-) : FalconCTRE<K>(talonSRX, model) {
+    model: NativeUnitModel<K>,
+    units: K
+) : FalconCTRE<K>(talonSRX, model, units, "FalconCTRE[${talonSRX.deviceID}]") {
 
     /**
      * Alternate constructor where users can supply ID and native unit model.
@@ -39,7 +40,7 @@ class FalconSRX<K : SIKey>(
      * @param id The ID of the motor controller.
      * @param model The native unit model.
      */
-    constructor(id: Int, model: NativeUnitModel<K>) : this(TalonSRX(id), model)
+    constructor(id: Int, model: NativeUnitModel<K>, units: K) : this(TalonSRX(id), model, units)
 
     /**
      * Returns the current drawn by the motor.
@@ -102,11 +103,13 @@ class FalconSRX<K : SIKey>(
 fun <K : SIKey> falconSRX(
     talonSRX: TalonSRX,
     model: NativeUnitModel<K>,
+    units: K,
     block: FalconSRX<K>.() -> Unit
-) = FalconSRX(talonSRX, model).also(block)
+) = FalconSRX(talonSRX, model, units).also(block)
 
 fun <K : SIKey> falconSRX(
     id: Int,
     model: NativeUnitModel<K>,
+    units: K,
     block: FalconSRX<K>.() -> Unit
-) = FalconSRX(id, model).also(block)
+) = FalconSRX(id, model, units).also(block)
diff --git a/vendorPWF/src/main/kotlin/org/ghrobotics/lib/motors/pwf/FalconVenom.kt b/vendorPWF/src/main/kotlin/org/ghrobotics/lib/motors/pwf/FalconVenom.kt
index 4b6eb6df..66858787 100644
--- a/vendorPWF/src/main/kotlin/org/ghrobotics/lib/motors/pwf/FalconVenom.kt
+++ b/vendorPWF/src/main/kotlin/org/ghrobotics/lib/motors/pwf/FalconVenom.kt
@@ -10,6 +10,7 @@ package org.ghrobotics.lib.motors.pwf
 
 import com.playingwithfusion.CANVenom
 import edu.wpi.first.wpilibj.DriverStation
+import edu.wpi.first.wpilibj.RobotController
 import kotlin.properties.Delegates
 import org.ghrobotics.lib.mathematics.units.Ampere
 import org.ghrobotics.lib.mathematics.units.SIKey
@@ -23,6 +24,12 @@ import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitModel
 import org.ghrobotics.lib.motors.AbstractFalconMotor
 import org.ghrobotics.lib.motors.FalconMotor
 
+internal fun getVenomID(venom: CANVenom): Int {
+    val field = venom.javaClass.getDeclaredField("m_motorID")
+    field.isAccessible = true
+    return field.getInt(venom)
+}
+
 /**
  * Wrapper around the Venom motor controller.
  *
@@ -31,8 +38,9 @@ import org.ghrobotics.lib.motors.FalconMotor
  */
 class FalconVenom<K : SIKey>(
     @Suppress("MemberVisibilityCanBePrivate") val venom: CANVenom,
-    private val model: NativeUnitModel<K>
-) : AbstractFalconMotor<K>() {
+    private val model: NativeUnitModel<K>,
+    units: K
+) : AbstractFalconMotor<K>("FalconVenom[${getVenomID(venom)}]") {
 
     /**
      * Alternate constructor where users can supply ID and native unit model.
@@ -40,18 +48,19 @@ class FalconVenom<K : SIKey>(
      * @param id The ID of the motor controller.
      * @param model The native unit model.
      */
-    constructor(id: Int, model: NativeUnitModel<K>) : this(CANVenom(id), model)
+    constructor(id: Int, model: NativeUnitModel<K>, units: K) : this(CANVenom(id), model, units)
 
     /**
      * The encoder for the Spark MAX.
      */
-    override val encoder = FalconVenomEncoder(venom, model)
+    override val encoder = FalconVenomEncoder(venom, model, units)
 
     /**
      * Returns the voltage across the motor windings.
      */
     override val voltageOutput: SIUnit<Volt>
-        get() = venom.outputVoltage.volts
+        get() = if (simVoltageOutput != null) simVoltageOutput.get().volts else
+            venom.outputVoltage.volts
 
     /**
      * Returns the current drawn by the motor.
@@ -109,6 +118,11 @@ class FalconVenom<K : SIKey>(
      * @param arbitraryFeedForward The arbitrary feedforward to add to the motor output.
      */
     override fun setVoltage(voltage: SIUnit<Volt>, arbitraryFeedForward: SIUnit<Volt>) {
+        if (simVoltageOutput != null) {
+            simVoltageOutput.set(voltage.value + arbitraryFeedForward.value)
+            return
+        }
+
         venom.setCommand(CANVenom.ControlMode.VoltageControl, voltage.value, 0.0, arbitraryFeedForward.value / 6.0)
     }
 
@@ -119,6 +133,10 @@ class FalconVenom<K : SIKey>(
      * @param arbitraryFeedForward The arbitrary feedforward to add to the motor output.
      */
     override fun setDutyCycle(dutyCycle: Double, arbitraryFeedForward: SIUnit<Volt>) {
+        if (simVoltageOutput != null) {
+            simVoltageOutput.set(dutyCycle * RobotController.getBatteryVoltage() + arbitraryFeedForward.value)
+            return
+        }
         venom.setCommand(CANVenom.ControlMode.Proportional, dutyCycle, 0.0, arbitraryFeedForward.value / 6.0)
     }
 
@@ -172,11 +190,13 @@ class FalconVenom<K : SIKey>(
 fun <K : SIKey> falconVenom(
     venom: CANVenom,
     model: NativeUnitModel<K>,
+    units: K,
     block: FalconVenom<K>.() -> Unit
-) = FalconVenom(venom, model).also(block)
+) = FalconVenom(venom, model, units).also(block)
 
 fun <K : SIKey> falconVenom(
     id: Int,
     model: NativeUnitModel<K>,
+    units: K,
     block: FalconVenom<K>.() -> Unit
-) = FalconVenom(id, model).also(block)
+) = FalconVenom(id, model, units).also(block)
diff --git a/vendorPWF/src/main/kotlin/org/ghrobotics/lib/motors/pwf/FalconVenomEncoder.kt b/vendorPWF/src/main/kotlin/org/ghrobotics/lib/motors/pwf/FalconVenomEncoder.kt
index 9593963b..bc9535e7 100644
--- a/vendorPWF/src/main/kotlin/org/ghrobotics/lib/motors/pwf/FalconVenomEncoder.kt
+++ b/vendorPWF/src/main/kotlin/org/ghrobotics/lib/motors/pwf/FalconVenomEncoder.kt
@@ -21,8 +21,9 @@ import org.ghrobotics.lib.motors.AbstractFalconEncoder
  */
 class FalconVenomEncoder<K : SIKey>(
     private val venom: CANVenom,
-    model: NativeUnitModel<K>
-) : AbstractFalconEncoder<K>(model) {
+    model: NativeUnitModel<K>,
+    units: K
+) : AbstractFalconEncoder<K>(model, units, "FalconVenomEncoder[${getVenomID(venom)}]") {
     /**
      * Returns the raw velocity from the encoder.
      */
diff --git a/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAX.kt b/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAX.kt
index 8ac89df9..351c715d 100644
--- a/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAX.kt
+++ b/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAX.kt
@@ -13,6 +13,7 @@ import com.revrobotics.CANPIDController
 import com.revrobotics.CANSparkMax
 import com.revrobotics.CANSparkMaxLowLevel
 import com.revrobotics.ControlType
+import edu.wpi.first.wpilibj.RobotController
 import kotlin.properties.Delegates
 import org.ghrobotics.lib.mathematics.units.Ampere
 import org.ghrobotics.lib.mathematics.units.SIKey
@@ -39,9 +40,10 @@ import org.ghrobotics.lib.motors.FalconMotor
 class FalconMAX<K : SIKey>(
     val canSparkMax: CANSparkMax,
     private val model: NativeUnitModel<K>,
+    units: K,
     useAlternateEncoder: Boolean = false,
     alternateEncoderCPR: Int = 8192
-) : AbstractFalconMotor<K>() {
+) : AbstractFalconMotor<K>("FalconMAX[${canSparkMax.deviceId}]") {
 
     /**
      * Creates a Spark MAX motor controller. The alternate encoder CPR is defaulted
@@ -56,10 +58,11 @@ class FalconMAX<K : SIKey>(
         id: Int,
         type: CANSparkMaxLowLevel.MotorType,
         model: NativeUnitModel<K>,
+        units: K,
         useAlternateEncoder: Boolean = false,
         alternateEncoderCPR: Int = 8196
     ) : this(
-        CANSparkMax(id, type), model, useAlternateEncoder, alternateEncoderCPR
+        CANSparkMax(id, type), model, units, useAlternateEncoder, alternateEncoderCPR
     )
 
     /**
@@ -75,7 +78,7 @@ class FalconMAX<K : SIKey>(
         if (useAlternateEncoder) canSparkMax.getAlternateEncoder(
             AlternateEncoderType.kQuadrature,
             alternateEncoderCPR
-        ) else canSparkMax.encoder, model
+        ) else canSparkMax.encoder, model, units
     )
 
     /**
@@ -91,7 +94,8 @@ class FalconMAX<K : SIKey>(
      * Returns the voltage across the motor windings.
      */
     override val voltageOutput: SIUnit<Volt>
-        get() = (canSparkMax.appliedOutput * canSparkMax.busVoltage).volts
+        get() = if (simVoltageOutput != null) simVoltageOutput.get().volts else
+            (canSparkMax.appliedOutput * canSparkMax.busVoltage).volts
 
     /**
      * Returns the current drawn by the motor.
@@ -169,6 +173,11 @@ class FalconMAX<K : SIKey>(
      * @param arbitraryFeedForward The arbitrary feedforward to add to the motor output.
      */
     override fun setVoltage(voltage: SIUnit<Volt>, arbitraryFeedForward: SIUnit<Volt>) {
+        if (simVoltageOutput != null) {
+            simVoltageOutput.set(voltage.value + arbitraryFeedForward.value)
+            return
+        }
+
         controller.setReference(voltage.value, ControlType.kVoltage, 0, arbitraryFeedForward.value)
     }
 
@@ -179,6 +188,10 @@ class FalconMAX<K : SIKey>(
      * @param arbitraryFeedForward The arbitrary feedforward to add to the motor output.
      */
     override fun setDutyCycle(dutyCycle: Double, arbitraryFeedForward: SIUnit<Volt>) {
+        if (simVoltageOutput != null) {
+            simVoltageOutput.set(dutyCycle * RobotController.getBatteryVoltage() + arbitraryFeedForward.value)
+            return
+        }
         controller.setReference(dutyCycle, ControlType.kDutyCycle, 0, arbitraryFeedForward.value)
     }
 
@@ -232,16 +245,18 @@ class FalconMAX<K : SIKey>(
 fun <K : SIKey> falconMAX(
     canSparkMax: CANSparkMax,
     model: NativeUnitModel<K>,
+    units: K,
     useAlternateEncoder: Boolean = false,
     alternateEncoderCPR: Int = 8192,
     block: FalconMAX<K>.() -> Unit
-) = FalconMAX(canSparkMax, model, useAlternateEncoder, alternateEncoderCPR).also(block)
+) = FalconMAX(canSparkMax, model, units, useAlternateEncoder, alternateEncoderCPR).also(block)
 
 fun <K : SIKey> falconMAX(
     id: Int,
     type: CANSparkMaxLowLevel.MotorType,
     model: NativeUnitModel<K>,
+    units: K,
     useAlternateEncoder: Boolean = false,
     alternateEncoderCPR: Int = 8192,
     block: FalconMAX<K>.() -> Unit
-) = FalconMAX(id, type, model, useAlternateEncoder, alternateEncoderCPR).also(block)
+) = FalconMAX(id, type, model, units, useAlternateEncoder, alternateEncoderCPR).also(block)
diff --git a/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAXEncoder.kt b/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAXEncoder.kt
index ce5eafab..58048897 100644
--- a/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAXEncoder.kt
+++ b/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAXEncoder.kt
@@ -9,6 +9,8 @@
 package org.ghrobotics.lib.motors.rev
 
 import com.revrobotics.CANEncoder
+import com.revrobotics.CANSensor
+import com.revrobotics.CANSparkMax
 import org.ghrobotics.lib.mathematics.units.SIKey
 import org.ghrobotics.lib.mathematics.units.SIUnit
 import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnit
@@ -16,6 +18,12 @@ import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitModel
 import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitVelocity
 import org.ghrobotics.lib.motors.AbstractFalconEncoder
 
+fun getCanEncoderID(canEncoder: CANEncoder): Int {
+    val field = CANSensor::class.java.getDeclaredField("m_device")
+    val canSparkMax = field.apply { isAccessible = true }.get(canEncoder) as CANSparkMax
+    return canSparkMax.deviceId
+}
+
 /**
  * Represents an encoder connected to a Spark MAX.
  *
@@ -24,11 +32,12 @@ import org.ghrobotics.lib.motors.AbstractFalconEncoder
  */
 class FalconMAXEncoder<K : SIKey>(
     val canEncoder: CANEncoder,
-    model: NativeUnitModel<K>
-) : AbstractFalconEncoder<K>(model) {
-    /**
-     * Returns the raw velocity from the encoder.
-     */
+    model: NativeUnitModel<K>,
+    units: K
+) : AbstractFalconEncoder<K>(model, units, "FalconMAXEncoder[${getCanEncoderID(canEncoder)}]") {
+/**
+ * Returns the raw velocity from the encoder.
+ */
     override val rawVelocity: SIUnit<NativeUnitVelocity> get() = SIUnit(canEncoder.velocity / 60.0)
 
     /**
diff --git a/vendorREV/vendordeps/REVRobotics.json b/vendorREV/vendordeps/REVRobotics.json
index 48605e6e..b0bec85b 100644
--- a/vendorREV/vendordeps/REVRobotics.json
+++ b/vendorREV/vendordeps/REVRobotics.json
@@ -1,24 +1,45 @@
 {
-  "cppDependencies": [
+  "fileName": "REVRobotics.json",
+  "name": "REVRobotics",
+  "version": "1.5.2",
+  "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+  "mavenUrls": [
+    "http://www.revrobotics.com/content/sw/max/sdk/maven/"
+  ],
+  "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
+  "javaDependencies": [
     {
-      "artifactId": "SparkMax-cpp",
-      "binaryPlatforms": [
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "SparkMax-java",
+      "version": "1.5.2"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "SparkMax-driver",
+      "version": "1.5.2",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
         "windowsx86-64",
         "windowsx86",
         "linuxaarch64bionic",
         "linuxx86-64",
         "linuxathena",
         "linuxraspbian"
-      ],
+      ]
+    }
+  ],
+  "cppDependencies": [
+    {
       "groupId": "com.revrobotics.frc",
-      "headerClassifier": "headers",
+      "artifactId": "SparkMax-cpp",
+      "version": "1.5.2",
       "libName": "SparkMax",
+      "headerClassifier": "headers",
       "sharedLibrary": false,
       "skipInvalidPlatforms": true,
-      "version": "1.5.1"
-    },
-    {
-      "artifactId": "SparkMax-driver",
       "binaryPlatforms": [
         "windowsx86-64",
         "windowsx86",
@@ -26,45 +47,24 @@
         "linuxx86-64",
         "linuxathena",
         "linuxraspbian"
-      ],
-      "groupId": "com.revrobotics.frc",
-      "headerClassifier": "headers",
-      "libName": "SparkMaxDriver",
-      "sharedLibrary": false,
-      "skipInvalidPlatforms": true,
-      "version": "1.5.1"
-    }
-  ],
-  "fileName": "REVRobotics.json",
-  "javaDependencies": [
+      ]
+    },
     {
-      "artifactId": "SparkMax-java",
       "groupId": "com.revrobotics.frc",
-      "version": "1.5.1"
-    }
-  ],
-  "jniDependencies": [
-    {
       "artifactId": "SparkMax-driver",
-      "groupId": "com.revrobotics.frc",
-      "isJar": false,
+      "version": "1.5.2",
+      "libName": "SparkMaxDriver",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
       "skipInvalidPlatforms": true,
-      "validPlatforms": [
+      "binaryPlatforms": [
         "windowsx86-64",
         "windowsx86",
         "linuxaarch64bionic",
         "linuxx86-64",
         "linuxathena",
         "linuxraspbian"
-      ],
-      "version": "1.5.1"
+      ]
     }
-  ],
-  "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
-  "mavenUrls": [
-    "http://www.revrobotics.com/content/sw/max/sdk/maven/"
-  ],
-  "name": "REVRobotics",
-  "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
-  "version": "1.5.1"
-}
+  ]
+}
\ No newline at end of file
diff --git a/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconEncoder.kt b/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconEncoder.kt
index d80d6a48..bfb2865a 100644
--- a/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconEncoder.kt
+++ b/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconEncoder.kt
@@ -8,16 +8,37 @@
 
 package org.ghrobotics.lib.motors
 
+import edu.wpi.first.hal.SimDevice
+import edu.wpi.first.hal.SimDouble
 import org.ghrobotics.lib.mathematics.units.SIKey
 import org.ghrobotics.lib.mathematics.units.SIUnit
 import org.ghrobotics.lib.mathematics.units.derived.Velocity
 import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitModel
 
 abstract class AbstractFalconEncoder<K : SIKey>(
-    val model: NativeUnitModel<K>
+    val model: NativeUnitModel<K>,
+    units: K,
+    simName: String
 ) : FalconEncoder<K> {
-    override val position: SIUnit<K> get() = model.fromNativeUnitPosition(rawPosition)
-    override val velocity: SIUnit<Velocity<K>> get() = model.fromNativeUnitVelocity(rawVelocity)
+
+    private val simDevice: SimDevice? = SimDevice.create(simName)
+    private val simPositionHandle: SimDouble? = simDevice?.createDouble("Position, ${units::class.java.simpleName}s", false, 0.0)
+    private val simVelocityHandle: SimDouble? = simDevice?.createDouble("Velocity, ${units::class.java.simpleName}s/s", false, 0.0)
+
+    override fun setSimulatedPosition(simPosition: SIUnit<K>) {
+        simPositionHandle?.set(simPosition.value)
+    }
+
+    override fun setSimulatedVelocity(simVelocity: SIUnit<Velocity<K>>) {
+        simVelocityHandle?.set(simVelocity.value)
+    }
+
+    override val position: SIUnit<K>
+        get() = if (simPositionHandle != null) SIUnit(simPositionHandle.get())
+        else model.fromNativeUnitPosition(rawPosition)
+    override val velocity: SIUnit<Velocity<K>>
+        get() = if (simVelocityHandle != null) SIUnit(simVelocityHandle.get())
+        else model.fromNativeUnitVelocity(rawVelocity)
 
     override fun resetPosition(newPosition: SIUnit<K>) {
         resetPositionRaw(model.toNativeUnitPosition(newPosition))
diff --git a/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconMotor.kt b/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconMotor.kt
index 8fe65595..30e08bed 100644
--- a/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconMotor.kt
+++ b/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconMotor.kt
@@ -8,9 +8,15 @@
 
 package org.ghrobotics.lib.motors
 
+import edu.wpi.first.hal.SimDevice
+import edu.wpi.first.hal.SimDouble
 import org.ghrobotics.lib.mathematics.units.SIKey
 
-abstract class AbstractFalconMotor<K : SIKey> : FalconMotor<K> {
+abstract class AbstractFalconMotor<K : SIKey>(simName: String) : FalconMotor<K> {
+
+    private val simDevice: SimDevice? = SimDevice.create(simName)
+
+    val simVoltageOutput: SimDouble? = simDevice?.createDouble("Voltage output", true, 0.0)
 
     override var useMotionProfileForPosition: Boolean = false
 
diff --git a/wpi/src/main/kotlin/org/ghrobotics/lib/motors/FalconEncoder.kt b/wpi/src/main/kotlin/org/ghrobotics/lib/motors/FalconEncoder.kt
index b97168bc..484fd193 100644
--- a/wpi/src/main/kotlin/org/ghrobotics/lib/motors/FalconEncoder.kt
+++ b/wpi/src/main/kotlin/org/ghrobotics/lib/motors/FalconEncoder.kt
@@ -17,11 +17,21 @@ import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitVelocity
 interface FalconEncoder<K : SIKey> {
 
     /**
-     * The velocity of the encoder in [K]/s
+     * Sets the simulated [simPosition] of this motor.
+     */
+    fun setSimulatedPosition(simPosition: SIUnit<K>)
+
+    /**
+     * Sets the simulated [simVelocity] of this motor.
+     */
+    fun setSimulatedVelocity(simVelocity: SIUnit<Velocity<K>>)
+
+    /**
+     * The velocity of the encoder in [K]/s. When in a simulation, returns the simulated velocity.
      */
     val velocity: SIUnit<Velocity<K>>
     /**
-     * The position of the encoder in [K]
+     * The position of the encoder in [K]. When in a simulation, returns the simulated position.
      */
     val position: SIUnit<K>
 
@@ -34,6 +44,9 @@ interface FalconEncoder<K : SIKey> {
      */
     val rawPosition: SIUnit<NativeUnit>
 
+    /**
+     * Reset the position of the encoder. Does not work in a simulation.
+     */
     fun resetPosition(newPosition: SIUnit<K>)
 
     fun resetPositionRaw(newPosition: SIUnit<NativeUnit>)
diff --git a/wpi/src/main/kotlin/org/ghrobotics/lib/wrappers/FalconTimedRobot.kt b/wpi/src/main/kotlin/org/ghrobotics/lib/wrappers/FalconTimedRobot.kt
index aef4c29e..6ec7f331 100644
--- a/wpi/src/main/kotlin/org/ghrobotics/lib/wrappers/FalconTimedRobot.kt
+++ b/wpi/src/main/kotlin/org/ghrobotics/lib/wrappers/FalconTimedRobot.kt
@@ -38,6 +38,9 @@ abstract class FalconTimedRobot {
 
     protected val wrappedValue = WpiTimedRobot()
 
+    val isEnabled
+        get() = wrappedValue.isEnabled
+
     protected inner class WpiTimedRobot : TimedRobot() {
 
         private val kLanguage_Kotlin = 6
@@ -76,6 +79,10 @@ abstract class FalconTimedRobot {
             this@FalconTimedRobot.testInit()
         }
 
+        override fun simulationInit() {
+            this@FalconTimedRobot.simulationInit()
+        }
+
         override fun robotPeriodic() {
             this@FalconTimedRobot.robotPeriodic()
             CommandScheduler.getInstance().run()
@@ -89,21 +96,32 @@ abstract class FalconTimedRobot {
             this@FalconTimedRobot.teleopPeriodic()
         }
 
+        override fun testPeriodic() {
+            this@FalconTimedRobot.testPeriodic()
+        }
+
         override fun disabledPeriodic() {
             this@FalconTimedRobot.disabledPeriodic()
         }
+
+        override fun simulationPeriodic() {
+            this@FalconTimedRobot.simulationPeriodic()
+        }
     }
 
     protected open fun robotInit() {}
     protected open fun autonomousInit() {}
     protected open fun teleopInit() {}
     protected open fun disabledInit() {}
-    private fun testInit() {}
+    protected open fun testInit() {}
+    protected open fun simulationInit() {}
 
     protected open fun robotPeriodic() {}
     protected open fun autonomousPeriodic() {}
     protected open fun teleopPeriodic() {}
     protected open fun disabledPeriodic() {}
+    protected open fun testPeriodic() {}
+    protected open fun simulationPeriodic() {}
 
     protected fun getSubsystemChecks(): Command {
         return FalconSubsystemHandler.testCommand