diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
index 20b8bca59e..098b997066 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
@@ -41,9 +41,9 @@ void Drivetrain::SimulationPeriodic() {
   // simulation, and write the simulated positions and velocities to our
   // simulated encoder and gyro. We negate the right side so that positive
   // voltages make the right side move forward.
-  m_drivetrainSimulator.SetInputs(units::volt_t{m_leftLeader.Get()} *
+  m_drivetrainSimulator.SetInputs(units::volt_t{m_leftGroup.Get()} *
                                       frc::RobotController::GetInputVoltage(),
-                                  units::volt_t{m_rightLeader.Get()} *
+                                  units::volt_t{m_rightGroup.Get()} *
                                       frc::RobotController::GetInputVoltage());
   m_drivetrainSimulator.Update(20_ms);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
index db8ab556da..986875a4af 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -144,8 +144,8 @@ public class Drivetrain {
     // simulated encoder and gyro. We negate the right side so that positive
     // voltages make the right side move forward.
     m_drivetrainSimulator.setInputs(
-        m_leftLeader.get() * RobotController.getInputVoltage(),
-        m_rightLeader.get() * RobotController.getInputVoltage());
+        m_leftGroup.get() * RobotController.getInputVoltage(),
+        m_rightGroup.get() * RobotController.getInputVoltage());
     m_drivetrainSimulator.update(0.02);
 
     m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPositionMeters());