diff --git a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
index f5d69dba75..3fafa8ed33 100644
--- a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
@@ -10,12 +10,16 @@
 #include <hal/simulation/PWMData.h>
 
 #include "frc/PWM.h"
+#include "frc/motorcontrol/PWMMotorController.h"
 
 using namespace frc;
 using namespace frc::sim;
 
 PWMSim::PWMSim(const PWM& pwm) : m_index{pwm.GetChannel()} {}
 
+PWMSim::PWMSim(const PWMMotorController& motorctrl)
+    : m_index{motorctrl.GetChannel()} {}
+
 PWMSim::PWMSim(int channel) : m_index{channel} {}
 
 std::unique_ptr<CallbackStore> PWMSim::RegisterInitializedCallback(
diff --git a/wpilibc/src/main/native/include/frc/simulation/PWMSim.h b/wpilibc/src/main/native/include/frc/simulation/PWMSim.h
index 97e9b1f65d..8b4156edd0 100644
--- a/wpilibc/src/main/native/include/frc/simulation/PWMSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/PWMSim.h
@@ -11,6 +11,7 @@
 namespace frc {
 
 class PWM;
+class PWMMotorController;
 
 namespace sim {
 
@@ -26,6 +27,13 @@ class PWMSim {
    */
   explicit PWMSim(const PWM& pwm);
 
+  /**
+   * Constructs from a PWMMotorController object.
+   *
+   * @param motorctrl PWMMotorController to simulate
+   */
+  explicit PWMSim(const PWMMotorController& motorctrl);
+
   /**
    * Constructs from a PWM channel number.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java
index 8a60e52608..79781c4f16 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java
@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj.simulation;
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.PWMDataJNI;
 import edu.wpi.first.wpilibj.PWM;
+import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
 
 /** Class to control a simulated PWM output. */
 public class PWMSim {
@@ -21,6 +22,15 @@ public class PWMSim {
     m_index = pwm.getChannel();
   }
 
+  /**
+   * Constructs from a PWMMotorController object.
+   *
+   * @param motorctrl PWMMotorController to simulate
+   */
+  public PWMSim(PWMMotorController motorctrl) {
+    m_index = motorctrl.getChannel();
+  }
+
   /**
    * Constructs from a PWM channel number.
    *