diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
index 1835100f43..550d19469a 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
@@ -52,8 +52,7 @@ void DriveSubsystem::SimulationPeriodic() {
       m_drivetrainSimulator.GetRightPosition().to<double>());
   m_rightEncoderSim.SetRate(
       m_drivetrainSimulator.GetRightVelocity().to<double>());
-  m_gyroAngleSim.SetAngle(
-      -m_drivetrainSimulator.GetHeading().Degrees().to<double>());
+  m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees());
 }
 
 units::ampere_t DriveSubsystem::GetCurrentDraw() const {
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
index fec15e6996..43289e3d2f 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
@@ -7,14 +7,14 @@
 
 #pragma once
 
-#include <frc/AnalogGyro.h>
+#include <frc/ADXRS450_Gyro.h>
 #include <frc/Encoder.h>
 #include <frc/PWMVictorSPX.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/DifferentialDriveOdometry.h>
-#include <frc/simulation/AnalogGyroSim.h>
+#include <frc/simulation/ADXRS450_GyroSim.h>
 #include <frc/simulation/DifferentialDrivetrainSim.h>
 #include <frc/simulation/EncoderSim.h>
 #include <frc/smartdashboard/Field2d.h>
@@ -154,7 +154,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
                               DriveConstants::kRightEncoderPorts[1]};
 
   // The gyro sensor
-  frc::AnalogGyro m_gyro{0};
+  frc::ADXRS450_Gyro m_gyro;
 
   // Odometry class for tracking robot pose
   frc::DifferentialDriveOdometry m_odometry{m_gyro.GetRotation2d()};
@@ -170,7 +170,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
 
   frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
   frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
-  frc::sim::AnalogGyroSim m_gyroAngleSim{m_gyro};
+  frc::sim::ADXRS450_GyroSim m_gyroSim{m_gyro};
 
   // The Field2d class shows the field in the sim GUI.
   frc::Field2d m_fieldSim;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
index d014ca35ae..7af0b125e4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
@@ -7,24 +7,21 @@
 
 package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems;
 
-import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.ADXRS450_Gyro;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.Constants;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
-import edu.wpi.first.wpilibj.simulation.EncoderSim;
-import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
+import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
+import edu.wpi.first.wpilibj.simulation.EncoderSim;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -57,7 +54,7 @@ public class DriveSubsystem extends SubsystemBase {
               Constants.DriveConstants.kRightEncoderReversed);
 
   // The gyro sensor
-  private final Gyro m_gyro = new ADXRS450_Gyro();
+  private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
 
   // Odometry class for tracking robot pose
   private final DifferentialDriveOdometry m_odometry;
@@ -68,7 +65,7 @@ public class DriveSubsystem extends SubsystemBase {
   private EncoderSim m_rightEncoderSim;
   // The Field2d class shows the field in the sim GUI
   private Field2d m_fieldSim;
-  private SimDouble m_gyroAngleSim;
+  private ADXRS450_GyroSim m_gyroSim;
 
   /**
    * Creates a new DriveSubsystem.
@@ -94,9 +91,7 @@ public class DriveSubsystem extends SubsystemBase {
       // The encoder and gyro angle sims let us set simulated sensor readings
       m_leftEncoderSim = new EncoderSim(m_leftEncoder);
       m_rightEncoderSim = new EncoderSim(m_rightEncoder);
-      m_gyroAngleSim =
-            new SimDeviceSim("ADXRS450_Gyro" + "[" + SPI.Port.kOnboardCS0.value + "]")
-                  .getDouble("Angle");
+      m_gyroSim = new ADXRS450_GyroSim(m_gyro);
 
       // the Field2d class lets us visualize our robot in the simulation GUI.
       m_fieldSim = new Field2d();
@@ -126,7 +121,7 @@ public class DriveSubsystem extends SubsystemBase {
     m_leftEncoderSim.setRate(m_drivetrainSimulator.getLeftVelocityMetersPerSecond());
     m_rightEncoderSim.setDistance(m_drivetrainSimulator.getRightPositionMeters());
     m_rightEncoderSim.setRate(m_drivetrainSimulator.getRightVelocityMetersPerSecond());
-    m_gyroAngleSim.set(-m_drivetrainSimulator.getHeading().getDegrees());
+    m_gyroSim.setAngle(-m_drivetrainSimulator.getHeading().getDegrees());
   }
 
   /**