diff --git a/wpilibc/src/main/native/cpp/IterativeRobot.cpp b/wpilibc/src/main/native/cpp/IterativeRobot.cpp
index c8664a54fc..a81601fecd 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobot.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobot.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -24,6 +24,10 @@ IterativeRobot::IterativeRobot() : IterativeRobotBase(kPacketPeriod) {
 void IterativeRobot::StartCompetition() {
   RobotInit();
 
+  if (IsSimulation()) {
+    SimulationInit();
+  }
+
   // Tell the DS that the robot is ready to be enabled
   HAL_ObserveUserProgramStarting();
 
diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index 2997234f11..c51bb2cec2 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -34,6 +34,10 @@ void IterativeRobotBase::RobotInit() {
   wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
+void IterativeRobotBase::SimulationInit() {
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+}
+
 void IterativeRobotBase::DisabledInit() {
   wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
@@ -58,6 +62,14 @@ void IterativeRobotBase::RobotPeriodic() {
   }
 }
 
+void IterativeRobotBase::SimulationPeriodic() {
+  static bool firstRun = true;
+  if (firstRun) {
+    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+    firstRun = false;
+  }
+}
+
 void IterativeRobotBase::DisabledPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
@@ -161,6 +173,12 @@ void IterativeRobotBase::LoopFunc() {
   m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
   Shuffleboard::Update();
   m_watchdog.AddEpoch("Shuffleboard::Update()");
+
+  if (IsSimulation()) {
+    SimulationPeriodic();
+    m_watchdog.AddEpoch("SimulationPeriodic()");
+  }
+
   m_watchdog.Disable();
 
   // Warn on loop time overruns
diff --git a/wpilibc/src/main/native/cpp/TimedRobot.cpp b/wpilibc/src/main/native/cpp/TimedRobot.cpp
index a9358dde31..7daa833b7d 100644
--- a/wpilibc/src/main/native/cpp/TimedRobot.cpp
+++ b/wpilibc/src/main/native/cpp/TimedRobot.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -24,6 +24,10 @@ using namespace frc;
 void TimedRobot::StartCompetition() {
   RobotInit();
 
+  if (IsSimulation()) {
+    SimulationInit();
+  }
+
   // Tell the DS that the robot is ready to be enabled
   HAL_ObserveUserProgramStarting();
 
diff --git a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
index ff159c49df..24933b6190 100644
--- a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
+++ b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
@@ -61,6 +61,16 @@ class IterativeRobotBase : public RobotBase {
    */
   virtual void RobotInit();
 
+  /**
+   * Robot-wide simulation initialization code should go here.
+   *
+   * Users should override this method for default Robot-wide simulation
+   * related initialization which will be called when the robot is first
+   * started. It will be called exactly one time after RobotInit is called
+   * only when the robot is in simulation.
+   */
+  virtual void SimulationInit();
+
   /**
    * Initialization code for disabled mode should go here.
    *
@@ -102,6 +112,13 @@ class IterativeRobotBase : public RobotBase {
    */
   virtual void RobotPeriodic();
 
+  /**
+   * Periodic simulation code should go here.
+   *
+   * This function is called in a simulated robot after user code executes.
+   */
+  virtual void SimulationPeriodic();
+
   /**
    * Periodic code for disabled mode should go here.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
index f1baefb25a..66079a8b0e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -43,6 +43,10 @@ public class IterativeRobot extends IterativeRobotBase {
   public void startCompetition() {
     robotInit();
 
+    if (isSimulation()) {
+      simulationInit();
+    }
+
     // Tell the DS that the robot is ready to be enabled
     HAL.observeUserProgramStarting();
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
index b9a7a6a7ad..974c529534 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -89,6 +89,18 @@ public abstract class IterativeRobotBase extends RobotBase {
     System.out.println("Default robotInit() method... Override me!");
   }
 
+  /**
+   * Robot-wide simulation initialization code should go here.
+   *
+   * <p>Users should override this method for default Robot-wide simulation
+   * related initialization which will be called when the robot is first
+   * started. It will be called exactly one time after RobotInit is called
+   * only when the robot is in simulation.
+   */
+  public void simulationInit() {
+    System.out.println("Default simulationInit() method... Override me!");
+  }
+
   /**
    * Initialization code for disabled mode should go here.
    *
@@ -144,6 +156,20 @@ public abstract class IterativeRobotBase extends RobotBase {
     }
   }
 
+  private boolean m_spFirstRun = true;
+
+  /**
+   * Periodic simulation code should go here.
+   *
+   * <p>This function is called in a simulated robot after user code executes.
+   */
+  public void simulationPeriodic() {
+    if (m_spFirstRun) {
+      System.out.println("Default simulationPeriodic() method... Override me!");
+      m_spFirstRun = false;
+    }
+  }
+
   private boolean m_dpFirstRun = true;
 
   /**
@@ -193,6 +219,7 @@ public abstract class IterativeRobotBase extends RobotBase {
     }
   }
 
+  @SuppressWarnings("PMD.CyclomaticComplexity")
   protected void loopFunc() {
     m_watchdog.reset();
 
@@ -264,6 +291,12 @@ public abstract class IterativeRobotBase extends RobotBase {
     m_watchdog.addEpoch("LiveWindow.updateValues()");
     Shuffleboard.update();
     m_watchdog.addEpoch("Shuffleboard.update()");
+
+    if (isSimulation()) {
+      simulationPeriodic();
+      m_watchdog.addEpoch("simulationPeriodic()");
+    }
+
     m_watchdog.disable();
 
     // Warn on loop time overruns
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
index b6b6b25d41..63952896cf 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -63,6 +63,10 @@ public class TimedRobot extends IterativeRobotBase {
   public void startCompetition() {
     robotInit();
 
+    if (isSimulation()) {
+      simulationInit();
+    }
+
     // Tell the DS that the robot is ready to be enabled
     HAL.observeUserProgramStarting();