diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
index 8cd7b02dd3..41eac66691 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -65,6 +65,16 @@ void Robot::TeleopPeriodic() {}
  */
 void Robot::TestPeriodic() {}
 
+/**
+ * This function is called once when the robot is first started up.
+ */
+void Robot::SimulationInit() {}
+
+/**
+ * This function is called periodically whilst in simulation.
+ */
+void Robot::SimulationPeriodic() {}
+
 #ifndef RUNNING_FRC_TESTS
 int main() {
   return frc::StartRobot<Robot>();
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
index a82f2ac63b..25e3229fa8 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
@@ -20,6 +20,8 @@ class Robot : public frc::TimedRobot {
   void TeleopInit() override;
   void TeleopPeriodic() override;
   void TestPeriodic() override;
+  void SimulationInit() override;
+  void SimulationPeriodic() override;
 
  private:
   // Have it null by default so that if testing teleop it
diff --git a/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
index 577de89da1..bf5e3766f9 100644
--- a/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
@@ -68,6 +68,10 @@ void Robot::TestInit() {}
 
 void Robot::TestPeriodic() {}
 
+void Robot::SimulationInit() {}
+
+void Robot::SimulationPeriodic() {}
+
 #ifndef RUNNING_FRC_TESTS
 int main() {
   return frc::StartRobot<Robot>();
diff --git a/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
index b8876054f9..5677a88fe5 100644
--- a/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
@@ -21,6 +21,8 @@ class Robot : public frc::TimedRobot {
   void DisabledPeriodic() override;
   void TestInit() override;
   void TestPeriodic() override;
+  void SimulationInit() override;
+  void SimulationPeriodic() override;
 
  private:
   frc::SendableChooser<std::string> m_chooser;
diff --git a/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
index 92f5df11f0..d5b57c2836 100644
--- a/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
@@ -19,6 +19,9 @@ void Robot::DisabledPeriodic() {}
 void Robot::TestInit() {}
 void Robot::TestPeriodic() {}
 
+void Robot::SimulationInit() {}
+void Robot::SimulationPeriodic() {}
+
 #ifndef RUNNING_FRC_TESTS
 int main() {
   return frc::StartRobot<Robot>();
diff --git a/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.h b/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.h
index 99f84f75f3..062a198f16 100644
--- a/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.h
@@ -22,4 +22,7 @@ class Robot : public frc::TimedRobot {
 
   void TestInit() override;
   void TestPeriodic() override;
+
+  void SimulationInit() override;
+  void SimulationPeriodic() override;
 };
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
index 34cd3cea6a..065296745e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
@@ -92,4 +92,12 @@ public class Robot extends TimedRobot {
   /** This function is called periodically during test mode. */
   @Override
   public void testPeriodic() {}
+
+  /** This function is called once when the robot is first started up. */
+  @Override
+  public void simulationInit() {}
+
+  /** This function is called periodically whilst in simulation. */
+  @Override
+  public void simulationPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
index 9141414a32..91be81c023 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
@@ -95,4 +95,12 @@ public class Robot extends TimedRobot {
   /** This function is called periodically during test mode. */
   @Override
   public void testPeriodic() {}
+
+  /** This function is called once when the robot is first started up. */
+  @Override
+  public void simulationInit() {}
+
+  /** This function is called periodically whilst in simulation. */
+  @Override
+  public void simulationPeriodic() {}
 }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
index d3968f3a8d..4e0a8fea72 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
@@ -46,4 +46,10 @@ public class Robot extends TimedRobot {
 
   @Override
   public void testPeriodic() {}
+
+  @Override
+  public void simulationInit() {}
+
+  @Override
+  public void simulationPeriodic() {}
 }