diff --git a/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
new file mode 100644
index 0000000000..af7cf8946b
--- /dev/null
+++ b/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
@@ -0,0 +1,113 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <units/current.h>
+#include <units/moment_of_inertia.h>
+
+#include "frc/controller/LinearPlantInversionFeedforward.h"
+#include "frc/controller/RamseteController.h"
+#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "frc/simulation/DifferentialDrivetrainSim.h"
+#include "frc/system/RungeKutta.h"
+#include "frc/system/plant/DCMotor.h"
+#include "frc/system/plant/LinearSystemId.h"
+#include "frc/trajectory/TrajectoryGenerator.h"
+#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
+#include "gtest/gtest.h"
+
+TEST(DifferentialDriveSim, Convergence) {
+  auto motor = frc::DCMotor::NEO(2);
+  auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
+      motor, 50_kg, 2_in, 12_in, 0.5_kg_sq_m, 1.0);
+
+  frc::DifferentialDriveKinematics kinematics{24_in};
+  frc::sim::DifferentialDrivetrainSim sim{plant, 24_in, motor, 1.0, 2_in};
+
+  frc::LinearPlantInversionFeedforward feedforward{plant, 20_ms};
+  frc::RamseteController ramsete;
+
+  feedforward.Reset(frc::MakeMatrix<2, 1>(0.0, 0.0));
+
+  // Ground truth.
+  Eigen::Matrix<double, 7, 1> groundTruthX =
+      Eigen::Matrix<double, 7, 1>::Zero();
+
+  frc::TrajectoryConfig config{1_mps, 1_mps_sq};
+  config.AddConstraint(
+      frc::DifferentialDriveKinematicsConstraint(kinematics, 1_mps));
+
+  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+      frc::Pose2d(), {}, frc::Pose2d(2_m, 2_m, 0_rad), config);
+
+  for (double t = 0; t < trajectory.TotalTime().to<double>(); t += 0.02) {
+    auto state = trajectory.Sample(20_ms);
+    auto ramseteOut = ramsete.Calculate(sim.GetEstimatedPosition(), state);
+
+    auto [l, r] = kinematics.ToWheelSpeeds(ramseteOut);
+    auto voltages = feedforward.Calculate(
+        frc::MakeMatrix<2, 1>(l.to<double>(), r.to<double>()));
+
+    // Sim periodic code.
+    sim.SetInputs(units::volt_t(voltages(0, 0)), units::volt_t(voltages(1, 0)));
+    sim.Update(20_ms);
+
+    // Update ground truth.
+    groundTruthX = frc::RungeKutta(
+        [&sim](const auto& x, const auto& u) -> Eigen::Matrix<double, 7, 1> {
+          return sim.Dynamics(x, u);
+        },
+        groundTruthX, voltages, 20_ms);
+  }
+
+  EXPECT_NEAR(groundTruthX(0, 0), sim.GetState(0), 1E-6);
+  EXPECT_NEAR(groundTruthX(1, 0), sim.GetState(1), 1E-6);
+  EXPECT_NEAR(groundTruthX(2, 0), sim.GetState(2), 1E-6);
+}
+
+TEST(DifferentialDriveSim, Current) {
+  auto motor = frc::DCMotor::NEO(2);
+  auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
+      motor, 50_kg, 2_in, 12_in, 0.5_kg_sq_m, 1.0);
+
+  frc::DifferentialDriveKinematics kinematics{24_in};
+  frc::sim::DifferentialDrivetrainSim sim{plant, 24_in, motor, 1.0, 2_in};
+
+  sim.SetInputs(-12_V, 12_V);
+  for (int i = 0; i < 10; ++i) {
+    sim.Update(20_ms);
+  }
+  EXPECT_TRUE(sim.GetCurrentDraw() > 0_A);
+
+  sim.SetInputs(12_V, 12_V);
+  for (int i = 0; i < 20; ++i) {
+    sim.Update(20_ms);
+  }
+  EXPECT_TRUE(sim.GetCurrentDraw() > 0_A);
+
+  sim.SetInputs(-12_V, 12_V);
+  for (int i = 0; i < 30; ++i) {
+    sim.Update(20_ms);
+  }
+  EXPECT_TRUE(sim.GetCurrentDraw() > 0_A);
+}
+
+TEST(DifferentialDriveSim, ModelStability) {
+  auto motor = frc::DCMotor::NEO(2);
+  auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
+      motor, 50_kg, 2_in, 12_in, 2_kg_sq_m, 5.0);
+
+  frc::DifferentialDriveKinematics kinematics{24_in};
+  frc::sim::DifferentialDrivetrainSim sim{plant, 24_in, motor, 1.0, 2_in};
+
+  sim.SetInputs(2_V, 4_V);
+
+  for (int i = 0; i < 10000; ++i) {
+    sim.Update(20_ms);
+  }
+
+  EXPECT_TRUE(std::abs(sim.GetEstimatedPosition().X().to<double>()) < 10000);
+}
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
index 68c9c6e4bd..eafa398308 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
@@ -121,7 +121,7 @@ class DifferentialDrivetrainSimTest {
   }
 
   @Test
-  public void testWHeee() {
+  public void testModelStability() {
     var motor = DCMotor.getNEO(2);
     var plant = LinearSystemId.createDrivetrainVelocitySystem(
         motor,
@@ -140,7 +140,6 @@ class DifferentialDrivetrainSimTest {
       sim.update(0.020);
     }
 
-    System.out.println(sim.getEstimatedPosition());
     assertTrue(Math.abs(sim.getEstimatedPosition().getX()) < 10000);
   }
 }