diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index 91bf6e5275..a59c68b169 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -193,7 +193,7 @@ void CommandScheduler::Run() {
   // Run the periodic method of all registered subsystems.
   for (auto&& subsystem : m_impl->subsystems) {
     subsystem.getFirst()->Periodic();
-    if (frc::RobotBase::IsSimulation()) {
+    if constexpr (frc::RobotBase::IsSimulation()) {
       subsystem.getFirst()->SimulationPeriodic();
     }
     m_watchdog.AddEpoch("Subsystem Periodic()");
diff --git a/wpilibc/src/main/native/cpp/IterativeRobot.cpp b/wpilibc/src/main/native/cpp/IterativeRobot.cpp
index a81601fecd..72fb79b6ae 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobot.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobot.cpp
@@ -24,7 +24,7 @@ IterativeRobot::IterativeRobot() : IterativeRobotBase(kPacketPeriod) {
 void IterativeRobot::StartCompetition() {
   RobotInit();
 
-  if (IsSimulation()) {
+  if constexpr (IsSimulation()) {
     SimulationInit();
   }
 
diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index 98c4b3e541..7b29130b91 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -170,7 +170,7 @@ void IterativeRobotBase::LoopFunc() {
   Shuffleboard::Update();
   m_watchdog.AddEpoch("Shuffleboard::Update()");
 
-  if (IsSimulation()) {
+  if constexpr (IsSimulation()) {
     SimulationPeriodic();
     m_watchdog.AddEpoch("SimulationPeriodic()");
   }
diff --git a/wpilibc/src/main/native/cpp/TimedRobot.cpp b/wpilibc/src/main/native/cpp/TimedRobot.cpp
index 7daa833b7d..144cdbe2e8 100644
--- a/wpilibc/src/main/native/cpp/TimedRobot.cpp
+++ b/wpilibc/src/main/native/cpp/TimedRobot.cpp
@@ -24,7 +24,7 @@ using namespace frc;
 void TimedRobot::StartCompetition() {
   RobotInit();
 
-  if (IsSimulation()) {
+  if constexpr (IsSimulation()) {
     SimulationInit();
   }