diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
index f737fafad7..5561fc1057 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -88,10 +88,10 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
   /**
    * Sets the state of the DC motor.
    *
-   * @param position The new position
-   * @param velocity The new velocity
+   * @param angularPositionRad The new position in radians.
+   * @param angularVelocityRadPerSec The new velocity in radians per second.
    */
-  void setState(double angularPositionRad, double angularVelocityRadPerSec) {
+  public void setState(double angularPositionRad, double angularVelocityRadPerSec) {
     setState(VecBuilder.fill(angularPositionRad, angularVelocityRadPerSec));
   }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
index f6921296d3..af2ee85b87 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -177,10 +177,10 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * Sets the arm's state. The new angle will be limited between the minimum and maximum allowed
    * limits.
    *
-   * @param angleRadians The new angle.
-   * @param velocityRadPerSec The new angular velocity.
+   * @param angleRadians The new angle in radians.
+   * @param velocityRadPerSec The new angular velocity in radians per second.
    */
-  void setState(double angleRadians, double velocityRadPerSec) {
+  public void setState(double angleRadians, double velocityRadPerSec) {
     setState(
         VecBuilder.fill(MathUtil.clamp(angleRadians, m_minAngle, m_maxAngle), velocityRadPerSec));
   }