diff --git a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
index e64a652cdd..7c53eb7f01 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -225,6 +225,12 @@ class DifferentialDrivetrainSim {
     static constexpr frc::DCMotor SingleMiniCIMPerSide =
         frc::DCMotor::MiniCIM(1);
     static constexpr frc::DCMotor DualMiniCIMPerSide = frc::DCMotor::MiniCIM(2);
+    static constexpr frc::DCMotor SingleFalcon500PerSide =
+        frc::DCMotor::Falcon500(1);
+    static constexpr frc::DCMotor DualFalcon500PerSide =
+        frc::DCMotor::Falcon500(2);
+    static constexpr frc::DCMotor SingleNEOPerSide = frc::DCMotor::NEO(1);
+    static constexpr frc::DCMotor DualNEOPerSide = frc::DCMotor::NEO(2);
   };
 
   class KitbotWheelSize {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
index b123eac917..9bb0a2f121 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -407,7 +407,11 @@ public class DifferentialDrivetrainSim {
     kSingleCIMPerSide(DCMotor.getCIM(1)),
     kDualCIMPerSide(DCMotor.getCIM(2)),
     kSingleMiniCIMPerSide(DCMotor.getMiniCIM(1)),
-    kDualMiniCIMPerSide(DCMotor.getMiniCIM(2));
+    kDualMiniCIMPerSide(DCMotor.getMiniCIM(2)),
+    kSingleFalcon500PerSide(DCMotor.getFalcon500(1)),
+    kDoubleFalcon500PerSide(DCMotor.getFalcon500(2)),
+    kSingleNEOPerSide(DCMotor.getNEO(1)),
+    kDoubleNEOPerSide(DCMotor.getNEO(2));
 
     @SuppressWarnings("MemberName")
     public final DCMotor value;