diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
index 1a005898eb..5bf054c82e 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
@@ -60,6 +60,9 @@ void Drivetrain::SimulationPeriodic() {
       m_drivetrainSimulator.GetRightVelocity().to<double>());
   m_gyroSim.SetAngle(
       -m_drivetrainSimulator.GetHeading().Degrees().to<double>());
+}
 
+void Drivetrain::Periodic() {
+  UpdateOdometry();
   m_fieldSim.SetRobotPose(m_odometry.GetPose());
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
index c205896370..26abb27d1d 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
@@ -22,6 +22,8 @@ class Robot : public frc::TimedRobot {
         frc::TrajectoryConfig(2_mps, 2_mps_sq));
   }
 
+  void RobotPeriodic() override { m_drive.Periodic(); }
+
   void AutonomousInit() override {
     m_timer.Reset();
     m_timer.Start();
@@ -33,8 +35,6 @@ class Robot : public frc::TimedRobot {
     auto reference = m_trajectory.Sample(elapsed);
     auto speeds = m_ramsete.Calculate(m_drive.GetPose(), reference);
     m_drive.Drive(speeds.vx, speeds.omega);
-
-    m_drive.UpdateOdometry();
   }
 
   void TeleopPeriodic() override {
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
index e01fd823d0..e54a3748c3 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
@@ -64,6 +64,7 @@ class Drivetrain {
   frc::Pose2d GetPose() const { return m_odometry.GetPose(); }
 
   void SimulationPeriodic();
+  void Periodic();
 
  private:
   static constexpr units::meter_t kTrackWidth = 0.381_m * 2;
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 b68b785ac6..1835100f43 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
@@ -22,6 +22,7 @@ DriveSubsystem::DriveSubsystem() {
   m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
 
   ResetEncoders();
+  frc::SmartDashboard::PutData("Field", &m_fieldSim);
 }
 
 void DriveSubsystem::Periodic() {
@@ -29,6 +30,7 @@ void DriveSubsystem::Periodic() {
   m_odometry.Update(m_gyro.GetRotation2d(),
                     units::meter_t(m_leftEncoder.GetDistance()),
                     units::meter_t(m_rightEncoder.GetDistance()));
+  m_fieldSim.SetRobotPose(m_odometry.GetPose());
 }
 
 void DriveSubsystem::SimulationPeriodic() {
@@ -52,9 +54,6 @@ void DriveSubsystem::SimulationPeriodic() {
       m_drivetrainSimulator.GetRightVelocity().to<double>());
   m_gyroAngleSim.SetAngle(
       -m_drivetrainSimulator.GetHeading().Degrees().to<double>());
-
-  m_fieldSim.SetRobotPose(m_odometry.GetPose());
-  frc::SmartDashboard::PutData("Field", &m_fieldSim);
 }
 
 units::ampere_t DriveSubsystem::GetCurrentDraw() const {
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 f3ddcf0216..dd32a99cfb 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
@@ -138,7 +138,10 @@ public class Drivetrain {
     m_rightEncoderSim.setDistance(m_drivetrainSimulator.getRightPositionMeters());
     m_rightEncoderSim.setRate(m_drivetrainSimulator.getRightVelocityMetersPerSecond());
     m_gyroSim.setAngle(-m_drivetrainSimulator.getHeading().getDegrees());
+  }
 
+  public void periodic() {
+    updateOdometry();
     m_fieldSim.setRobotPose(m_odometry.getPoseMeters());
   }
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
index f218fcd5b2..1934474973 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
@@ -43,6 +43,11 @@ public class Robot extends TimedRobot {
     );
   }
 
+  @Override
+  public void robotPeriodic() {
+    m_drive.periodic();
+  }
+
   @Override
   public void autonomousInit() {
     m_timer.reset();
@@ -56,7 +61,6 @@ public class Robot extends TimedRobot {
     Trajectory.State reference = m_trajectory.sample(elapsed);
     ChassisSpeeds speeds = m_ramsete.calculate(m_drive.getPose(), reference);
     m_drive.drive(speeds.vxMetersPerSecond, speeds.omegaRadiansPerSecond);
-    m_drive.updateOdometry();
   }
 
   @Override
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 d1f4d22dbc..d014ca35ae 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
@@ -100,6 +100,7 @@ public class DriveSubsystem extends SubsystemBase {
 
       // the Field2d class lets us visualize our robot in the simulation GUI.
       m_fieldSim = new Field2d();
+      SmartDashboard.putData("Field", m_fieldSim);
     }
   }
 
@@ -108,6 +109,7 @@ public class DriveSubsystem extends SubsystemBase {
     // Update the odometry in the periodic block
     m_odometry.update(Rotation2d.fromDegrees(getHeading()), m_leftEncoder.getDistance(),
           m_rightEncoder.getDistance());
+    m_fieldSim.setRobotPose(getPose());
   }
 
   @Override
@@ -125,9 +127,6 @@ public class DriveSubsystem extends SubsystemBase {
     m_rightEncoderSim.setDistance(m_drivetrainSimulator.getRightPositionMeters());
     m_rightEncoderSim.setRate(m_drivetrainSimulator.getRightVelocityMetersPerSecond());
     m_gyroAngleSim.set(-m_drivetrainSimulator.getHeading().getDegrees());
-
-    m_fieldSim.setRobotPose(getPose());
-    SmartDashboard.putData("Field", m_fieldSim);
   }
 
   /**