diff --git a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
index 7023a218d4..f14564449a 100644
--- a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -48,4 +48,5 @@ units::ampere_t DCMotorSim::GetCurrentDraw() const {
 
 void DCMotorSim::SetInputVoltage(units::volt_t voltage) {
   SetInput(Vectord<1>{voltage.value()});
+  ClampInput(frc::RobotController::GetBatteryVoltage().value());
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
index 911d828171..13b3d2e4a3 100644
--- a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
@@ -98,6 +98,7 @@ units::ampere_t ElevatorSim::GetCurrentDraw() const {
 
 void ElevatorSim::SetInputVoltage(units::volt_t voltage) {
   SetInput(Vectord<1>{voltage.value()});
+  ClampInput(frc::RobotController::GetBatteryVoltage().value());
 }
 
 Vectord<2> ElevatorSim::UpdateX(const Vectord<2>& currentXhat,
diff --git a/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp b/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
index 1eb529b3c8..31024c3ae8 100644
--- a/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
@@ -43,4 +43,5 @@ units::ampere_t FlywheelSim::GetCurrentDraw() const {
 
 void FlywheelSim::SetInputVoltage(units::volt_t voltage) {
   SetInput(Vectord<1>{voltage.value()});
+  ClampInput(frc::RobotController::GetBatteryVoltage().value());
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
index ab68cbcc70..945decc320 100644
--- a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
@@ -81,6 +81,7 @@ units::ampere_t SingleJointedArmSim::GetCurrentDraw() const {
 
 void SingleJointedArmSim::SetInputVoltage(units::volt_t voltage) {
   SetInput(Vectord<1>{voltage.value()});
+  ClampInput(frc::RobotController::GetBatteryVoltage().value());
 }
 
 Vectord<2> SingleJointedArmSim::UpdateX(const Vectord<2>& currentXhat,
diff --git a/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h b/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
index be3a3259c5..c8019a36f9 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
@@ -78,7 +78,7 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
    *
    * @return The DC motor current draw.
    */
-  units::ampere_t GetCurrentDraw() const override;
+  units::ampere_t GetCurrentDraw() const;
 
   /**
    * Sets the input voltage for the DC motor.
diff --git a/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h b/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
index fd883bb295..03cc070cee 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
@@ -150,7 +150,7 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
    *
    * @return The elevator current draw.
    */
-  units::ampere_t GetCurrentDraw() const override;
+  units::ampere_t GetCurrentDraw() const;
 
   /**
    * Sets the input voltage for the elevator.
diff --git a/wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h b/wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h
index cc0eca9ae0..32c8aa3311 100644
--- a/wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h
@@ -68,7 +68,7 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
    *
    * @return The flywheel current draw.
    */
-  units::ampere_t GetCurrentDraw() const override;
+  units::ampere_t GetCurrentDraw() const;
 
   /**
    * Sets the input voltage for the flywheel.
diff --git a/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h b/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
index b44aee5626..8685435394 100644
--- a/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
@@ -86,7 +86,7 @@ class LinearSystemSim {
    *
    * @param u The system inputs.
    */
-  void SetInput(const Vectord<Inputs>& u) { m_u = ClampInput(u); }
+  void SetInput(const Vectord<Inputs>& u) { m_u = u; }
 
   /**
    * Sets the system inputs.
@@ -94,10 +94,7 @@ class LinearSystemSim {
    * @param row   The row in the input matrix to set.
    * @param value The value to set the row to.
    */
-  void SetInput(int row, double value) {
-    m_u(row, 0) = value;
-    ClampInput(m_u);
-  }
+  void SetInput(int row, double value) { m_u(row, 0) = value; }
 
   /**
    * Returns the current input of the plant.
@@ -121,14 +118,6 @@ class LinearSystemSim {
    */
   void SetState(const Vectord<States>& state) { m_x = state; }
 
-  /**
-   * Returns the current drawn by this simulated system. Override this method to
-   * add a custom current calculation.
-   *
-   * @return The current drawn by this simulated mechanism.
-   */
-  virtual units::ampere_t GetCurrentDraw() const { return 0_A; }
-
  protected:
   /**
    * Updates the state estimate of the system.
@@ -147,12 +136,10 @@ class LinearSystemSim {
    * Clamp the input vector such that no element exceeds the given voltage. If
    * any does, the relative magnitudes of the input will be maintained.
    *
-   * @param u          The input vector.
-   * @return The normalized input.
+   * @param maxInput The maximum magnitude of the input vector after clamping.
    */
-  Vectord<Inputs> ClampInput(Vectord<Inputs> u) {
-    return frc::DesaturateInputVector<Inputs>(
-        u, frc::RobotController::GetInputVoltage());
+  void ClampInput(double maxInput) {
+    m_u = frc::DesaturateInputVector<Inputs>(m_u, maxInput);
   }
 
   /// The plant that represents the linear system.
diff --git a/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h b/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
index 2476cea67c..36924f8d0f 100644
--- a/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
@@ -126,7 +126,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    *
    * @return The arm current draw.
    */
-  units::ampere_t GetCurrentDraw() const override;
+  units::ampere_t GetCurrentDraw() const;
 
   /**
    * Sets the input voltage for the arm.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
index 67962a9626..0a86c11f68 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N2;
@@ -12,6 +11,7 @@ import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated DC motor mechanism. */
 public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
@@ -25,30 +25,17 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
    * Creates a simulated DC motor mechanism.
    *
    * @param plant The linear system representing the DC motor. This system can be created with
-   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
-   *     double)}.
    * @param gearbox The type of and number of motors in the DC motor gearbox.
    * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
-   */
-  public DCMotorSim(LinearSystem<N2, N1, N2> plant, DCMotor gearbox, double gearing) {
-    super(plant);
-    m_gearbox = gearbox;
-    m_gearing = gearing;
-  }
-
-  /**
-   * Creates a simulated DC motor mechanism.
-   *
-   * @param plant The linear system representing the DC motor. This system can be created with
-   * @param gearbox The type of and number of motors in the DC motor gearbox.
-   * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
-   * @param measurementStdDevs The standard deviations of the measurements.
+   * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
+   *     noise is desired. If present must have 2 elements. The first element is for position. The
+   *     second element is for velocity.
    */
   public DCMotorSim(
       LinearSystem<N2, N1, N2> plant,
       DCMotor gearbox,
       double gearing,
-      Matrix<N2, N1> measurementStdDevs) {
+      double... measurementStdDevs) {
     super(plant, measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
@@ -60,25 +47,13 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
    * @param gearbox The type of and number of motors in the DC motor gearbox.
    * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
    * @param jKgMetersSquared The moment of inertia of the DC motor. If this is unknown, use the
-   *     {@link #DCMotorSim(LinearSystem, DCMotor, double, Matrix)} constructor.
-   */
-  public DCMotorSim(DCMotor gearbox, double gearing, double jKgMetersSquared) {
-    super(LinearSystemId.createDCMotorSystem(gearbox, jKgMetersSquared, gearing));
-    m_gearbox = gearbox;
-    m_gearing = gearing;
-  }
-
-  /**
-   * Creates a simulated DC motor mechanism.
-   *
-   * @param gearbox The type of and number of motors in the DC motor gearbox.
-   * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
-   * @param jKgMetersSquared The moment of inertia of the DC motor. If this is unknown, use the
-   *     {@link #DCMotorSim(LinearSystem, DCMotor, double, Matrix)} constructor.
-   * @param measurementStdDevs The standard deviations of the measurements.
+   *     {@link #DCMotorSim(LinearSystem, DCMotor, double, double...)} constructor.
+   * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
+   *     noise is desired. If present must have 2 elements. The first element is for position. The
+   *     second element is for velocity.
    */
   public DCMotorSim(
-      DCMotor gearbox, double gearing, double jKgMetersSquared, Matrix<N2, N1> measurementStdDevs) {
+      DCMotor gearbox, double gearing, double jKgMetersSquared, double... measurementStdDevs) {
     super(
         LinearSystemId.createDCMotorSystem(gearbox, jKgMetersSquared, gearing), measurementStdDevs);
     m_gearbox = gearbox;
@@ -136,7 +111,6 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
    *
    * @return The DC motor current draw.
    */
-  @Override
   public double getCurrentDrawAmps() {
     // I = V / R - omega / (Kv * R)
     // Reductions are output over input, so a reduction of 2:1 means the motor is spinning
@@ -152,5 +126,6 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
    */
   public void setInputVoltage(double volts) {
     setInput(volts);
+    clampInput(RobotController.getBatteryVoltage());
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
index 2f3bf83e97..2f7ce3e768 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -13,6 +13,7 @@ import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.math.system.NumericalIntegration;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated elevator mechanism. */
 public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
@@ -39,7 +40,8 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
    * @param maxHeightMeters The max allowable height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
    * @param startingHeightMeters The starting height of the elevator.
-   * @param measurementStdDevs The standard deviations of the measurements.
+   * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
+   *     noise is desired. If present must have 1 element for position.
    */
   @SuppressWarnings("this-escape")
   public ElevatorSim(
@@ -49,7 +51,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
       double maxHeightMeters,
       boolean simulateGravity,
       double startingHeightMeters,
-      Matrix<N2, N1> measurementStdDevs) {
+      double... measurementStdDevs) {
     super(plant, measurementStdDevs);
     m_gearbox = gearbox;
     m_minHeight = minHeightMeters;
@@ -59,35 +61,6 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
     setState(startingHeightMeters, 0);
   }
 
-  /**
-   * Creates a simulated elevator mechanism.
-   *
-   * @param plant The linear system that represents the elevator. This system can be created with
-   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createElevatorSystem(DCMotor, double,
-   *     double, double)}.
-   * @param gearbox The type of and number of motors in the elevator gearbox.
-   * @param minHeightMeters The min allowable height of the elevator.
-   * @param maxHeightMeters The max allowable height of the elevator.
-   * @param startingHeightMeters The starting height of the elevator.
-   * @param simulateGravity Whether gravity should be simulated or not.
-   */
-  public ElevatorSim(
-      LinearSystem<N2, N1, N2> plant,
-      DCMotor gearbox,
-      double minHeightMeters,
-      double maxHeightMeters,
-      boolean simulateGravity,
-      double startingHeightMeters) {
-    this(
-        plant,
-        gearbox,
-        minHeightMeters,
-        maxHeightMeters,
-        simulateGravity,
-        startingHeightMeters,
-        null);
-  }
-
   /**
    * Creates a simulated elevator mechanism.
    *
@@ -98,37 +71,8 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
    * @param maxHeightMeters The max allowable height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
    * @param startingHeightMeters The starting height of the elevator.
-   */
-  public ElevatorSim(
-      double kV,
-      double kA,
-      DCMotor gearbox,
-      double minHeightMeters,
-      double maxHeightMeters,
-      boolean simulateGravity,
-      double startingHeightMeters) {
-    this(
-        kV,
-        kA,
-        gearbox,
-        minHeightMeters,
-        maxHeightMeters,
-        simulateGravity,
-        startingHeightMeters,
-        null);
-  }
-
-  /**
-   * Creates a simulated elevator mechanism.
-   *
-   * @param kV The velocity gain.
-   * @param kA The acceleration gain.
-   * @param gearbox The type of and number of motors in the elevator gearbox.
-   * @param minHeightMeters The min allowable height of the elevator.
-   * @param maxHeightMeters The max allowable height of the elevator.
-   * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingHeightMeters The starting height of the elevator.
-   * @param measurementStdDevs The standard deviations of the measurements.
+   * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
+   *     noise is desired. If present must have 1 element for position.
    */
   public ElevatorSim(
       double kV,
@@ -138,7 +82,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
       double maxHeightMeters,
       boolean simulateGravity,
       double startingHeightMeters,
-      Matrix<N2, N1> measurementStdDevs) {
+      double... measurementStdDevs) {
     this(
         LinearSystemId.identifyPositionSystem(kV, kA),
         gearbox,
@@ -160,7 +104,8 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
    * @param maxHeightMeters The max allowable height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
    * @param startingHeightMeters The starting height of the elevator.
-   * @param measurementStdDevs The standard deviations of the measurements.
+   * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
+   *     noise is desired. If present must have 1 element for position.
    */
   public ElevatorSim(
       DCMotor gearbox,
@@ -171,7 +116,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
       double maxHeightMeters,
       boolean simulateGravity,
       double startingHeightMeters,
-      Matrix<N2, N1> measurementStdDevs) {
+      double... measurementStdDevs) {
     this(
         LinearSystemId.createElevatorSystem(gearbox, carriageMassKg, drumRadiusMeters, gearing),
         gearbox,
@@ -182,39 +127,6 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
         measurementStdDevs);
   }
 
-  /**
-   * Creates a simulated elevator mechanism.
-   *
-   * @param gearbox The type of and number of motors in the elevator gearbox.
-   * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
-   * @param carriageMassKg The mass of the elevator carriage.
-   * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
-   * @param minHeightMeters The min allowable height of the elevator.
-   * @param maxHeightMeters The max allowable height of the elevator.
-   * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingHeightMeters The starting height of the elevator.
-   */
-  public ElevatorSim(
-      DCMotor gearbox,
-      double gearing,
-      double carriageMassKg,
-      double drumRadiusMeters,
-      double minHeightMeters,
-      double maxHeightMeters,
-      boolean simulateGravity,
-      double startingHeightMeters) {
-    this(
-        gearbox,
-        gearing,
-        carriageMassKg,
-        drumRadiusMeters,
-        minHeightMeters,
-        maxHeightMeters,
-        simulateGravity,
-        startingHeightMeters,
-        null);
-  }
-
   /**
    * Sets the elevator's state. The new position will be limited between the minimum and maximum
    * allowed heights.
@@ -289,7 +201,6 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
    *
    * @return The elevator current draw.
    */
-  @Override
   public double getCurrentDrawAmps() {
     // I = V / R - omega / (Kv * R)
     // Reductions are greater than 1, so a reduction of 10:1 would mean the motor is
@@ -310,6 +221,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
    */
   public void setInputVoltage(double volts) {
     setInput(volts);
+    clampInput(RobotController.getBatteryVoltage());
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
index 9c224880fd..eb3d8e6390 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
@@ -4,13 +4,13 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
-import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated flywheel mechanism. */
 public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
@@ -20,34 +20,20 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
   // The gearing from the motors to the output.
   private final double m_gearing;
 
-  /**
-   * Creates a simulated flywheel mechanism.
-   *
-   * @param plant The linear system that represents the flywheel. This system can be created with
-   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createFlywheelSystem(DCMotor, double,
-   *     double)}.
-   * @param gearbox The type of and number of motors in the flywheel gearbox.
-   * @param gearing The gearing of the flywheel (numbers greater than 1 represent reductions).
-   */
-  public FlywheelSim(LinearSystem<N1, N1, N1> plant, DCMotor gearbox, double gearing) {
-    super(plant);
-    m_gearbox = gearbox;
-    m_gearing = gearing;
-  }
-
   /**
    * Creates a simulated flywheel mechanism.
    *
    * @param plant The linear system that represents the flywheel.
    * @param gearbox The type of and number of motors in the flywheel gearbox.
    * @param gearing The gearing of the flywheel (numbers greater than 1 represent reductions).
-   * @param measurementStdDevs The standard deviations of the measurements.
+   * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
+   *     noise is desired. If present must have 1 element for velocity.
    */
   public FlywheelSim(
       LinearSystem<N1, N1, N1> plant,
       DCMotor gearbox,
       double gearing,
-      Matrix<N1, N1> measurementStdDevs) {
+      double... measurementStdDevs) {
     super(plant, measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
@@ -59,25 +45,12 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
    * @param gearbox The type of and number of motors in the flywheel gearbox.
    * @param gearing The gearing of the flywheel (numbers greater than 1 represent reductions).
    * @param jKgMetersSquared The moment of inertia of the flywheel. If this is unknown, use the
-   *     {@link #FlywheelSim(LinearSystem, DCMotor, double, Matrix)} constructor.
-   */
-  public FlywheelSim(DCMotor gearbox, double gearing, double jKgMetersSquared) {
-    super(LinearSystemId.createFlywheelSystem(gearbox, jKgMetersSquared, gearing));
-    m_gearbox = gearbox;
-    m_gearing = gearing;
-  }
-
-  /**
-   * Creates a simulated flywheel mechanism.
-   *
-   * @param gearbox The type of and number of motors in the flywheel gearbox.
-   * @param gearing The gearing of the flywheel (numbers greater than 1 represent reductions).
-   * @param jKgMetersSquared The moment of inertia of the flywheel. If this is unknown, use the
-   *     {@link #FlywheelSim(LinearSystem, DCMotor, double, Matrix)} constructor.
-   * @param measurementStdDevs The standard deviations of the measurements.
+   *     {@link #FlywheelSim(LinearSystem, DCMotor, double, double...)} constructor.
+   * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
+   *     noise is desired. If present must have 1 element for velocity.
    */
   public FlywheelSim(
-      DCMotor gearbox, double gearing, double jKgMetersSquared, Matrix<N1, N1> measurementStdDevs) {
+      DCMotor gearbox, double gearing, double jKgMetersSquared, double... measurementStdDevs) {
     super(
         LinearSystemId.createFlywheelSystem(gearbox, jKgMetersSquared, gearing),
         measurementStdDevs);
@@ -117,7 +90,6 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
    *
    * @return The flywheel current draw.
    */
-  @Override
   public double getCurrentDrawAmps() {
     // I = V / R - omega / (Kv * R)
     // Reductions are output over input, so a reduction of 2:1 means the motor is spinning
@@ -133,5 +105,6 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
    */
   public void setInputVoltage(double volts) {
     setInput(volts);
+    clampInput(RobotController.getBatteryVoltage());
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
index 8207bb556f..ec296fde3d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
@@ -9,7 +9,6 @@ import edu.wpi.first.math.Num;
 import edu.wpi.first.math.StateSpaceUtil;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.system.LinearSystem;
-import edu.wpi.first.wpilibj.RobotController;
 import org.ejml.MatrixDimensionException;
 import org.ejml.simple.SimpleMatrix;
 
@@ -43,27 +42,28 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   /** The standard deviations of measurements, used for adding noise to the measurements. */
   protected final Matrix<Outputs, N1> m_measurementStdDevs;
 
-  /**
-   * Creates a simulated generic linear system.
-   *
-   * @param system The system to simulate.
-   */
-  public LinearSystemSim(LinearSystem<States, Inputs, Outputs> system) {
-    this(system, null);
-  }
-
   /**
    * Creates a simulated generic linear system with measurement noise.
    *
    * @param system The system being controlled.
-   * @param measurementStdDevs Standard deviations of measurements. Can be null if no noise is
-   *     desired.
+   * @param measurementStdDevs Standard deviations of measurements. Can be empty if no noise is
+   *     desired. If present must have same number of items as Outputs
    */
   public LinearSystemSim(
-      LinearSystem<States, Inputs, Outputs> system, Matrix<Outputs, N1> measurementStdDevs) {
+      LinearSystem<States, Inputs, Outputs> system, double... measurementStdDevs) {
+    if (measurementStdDevs.length != 0 && measurementStdDevs.length != system.getC().getNumRows()) {
+      throw new MatrixDimensionException(
+          "Malformed measurementStdDevs! Got "
+              + measurementStdDevs.length
+              + " elements instead of "
+              + system.getC().getNumRows());
+    }
     this.m_plant = system;
-    this.m_measurementStdDevs = measurementStdDevs;
-
+    if (measurementStdDevs.length == 0) {
+      m_measurementStdDevs = new Matrix<>(new SimpleMatrix(system.getC().getNumRows(), 1));
+    } else {
+      m_measurementStdDevs = new Matrix<>(new SimpleMatrix(measurementStdDevs));
+    }
     m_x = new Matrix<>(new SimpleMatrix(system.getA().getNumRows(), 1));
     m_u = new Matrix<>(new SimpleMatrix(system.getB().getNumCols(), 1));
     m_y = new Matrix<>(new SimpleMatrix(system.getC().getNumRows(), 1));
@@ -112,7 +112,7 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
    * @param u The system inputs.
    */
   public void setInput(Matrix<Inputs, N1> u) {
-    this.m_u = clampInput(u);
+    this.m_u = u;
   }
 
   /**
@@ -123,7 +123,6 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
    */
   public void setInput(int row, double value) {
     m_u.set(row, 0, value);
-    m_u = clampInput(m_u);
   }
 
   /**
@@ -137,7 +136,6 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
           "Malformed input! Got " + u.length + " elements instead of " + m_u.getNumRows());
     }
     m_u = new Matrix<>(new SimpleMatrix(m_u.getNumRows(), 1, true, u));
-    m_u = clampInput(m_u);
   }
 
   /**
@@ -168,16 +166,6 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
     m_x = state;
   }
 
-  /**
-   * Returns the current drawn by this simulated system. Override this method to add a custom
-   * current calculation.
-   *
-   * @return The current drawn by this simulated mechanism.
-   */
-  public double getCurrentDrawAmps() {
-    return 0.0;
-  }
-
   /**
    * Updates the state estimate of the system.
    *
@@ -192,13 +180,12 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   }
 
   /**
-   * Clamp the input vector such that no element exceeds the given voltage. If any does, the
+   * Clamp the input vector such that no element exceeds the maximum allowed value. If any does, the
    * relative magnitudes of the input will be maintained.
    *
-   * @param u The input vector.
-   * @return The normalized input.
+   * @param maxInput The maximum magnitude of the input vector after clamping.
    */
-  protected Matrix<Inputs, N1> clampInput(Matrix<Inputs, N1> u) {
-    return StateSpaceUtil.desaturateInputVector(u, RobotController.getBatteryVoltage());
+  protected void clampInput(double maxInput) {
+    m_u = StateSpaceUtil.desaturateInputVector(m_u, maxInput);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
index b2f155771d..ba0442f782 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -13,6 +13,7 @@ import edu.wpi.first.math.system.LinearSystem;
 import edu.wpi.first.math.system.NumericalIntegration;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated single jointed arm mechanism. */
 public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
@@ -47,7 +48,8 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
    * @param maxAngleRads The maximum angle that the arm is capable of.
    * @param simulateGravity Whether gravity should be simulated or not.
    * @param startingAngleRads The initial position of the Arm simulation in radians.
-   * @param measurementStdDevs The standard deviations of the measurements.
+   * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
+   *     noise is desired. If present must have 1 element for position.
    */
   @SuppressWarnings("this-escape")
   public SingleJointedArmSim(
@@ -59,7 +61,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
       double maxAngleRads,
       boolean simulateGravity,
       double startingAngleRads,
-      Matrix<N2, N1> measurementStdDevs) {
+      double... measurementStdDevs) {
     super(plant, measurementStdDevs);
     m_gearbox = gearbox;
     m_gearing = gearing;
@@ -71,74 +73,6 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
     setState(startingAngleRads, 0.0);
   }
 
-  /**
-   * Creates a simulated arm mechanism.
-   *
-   * @param plant The linear system that represents the arm. This system can be created with {@link
-   *     edu.wpi.first.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor,
-   *     double, double)}.
-   * @param gearbox The type of and number of motors in the arm gearbox.
-   * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
-   * @param armLengthMeters The length of the arm.
-   * @param minAngleRads The minimum angle that the arm is capable of.
-   * @param maxAngleRads The maximum angle that the arm is capable of.
-   * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingAngleRads The initial position of the Arm simulation in radians.
-   */
-  public SingleJointedArmSim(
-      LinearSystem<N2, N1, N2> plant,
-      DCMotor gearbox,
-      double gearing,
-      double armLengthMeters,
-      double minAngleRads,
-      double maxAngleRads,
-      boolean simulateGravity,
-      double startingAngleRads) {
-    this(
-        plant,
-        gearbox,
-        gearing,
-        armLengthMeters,
-        minAngleRads,
-        maxAngleRads,
-        simulateGravity,
-        startingAngleRads,
-        null);
-  }
-
-  /**
-   * Creates a simulated arm mechanism.
-   *
-   * @param gearbox The type of and number of motors in the arm gearbox.
-   * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
-   * @param jKgMetersSquared The moment of inertia of the arm, can be calculated from CAD software.
-   * @param armLengthMeters The length of the arm.
-   * @param minAngleRads The minimum angle that the arm is capable of.
-   * @param maxAngleRads The maximum angle that the arm is capable of.
-   * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingAngleRads The initial position of the Arm simulation in radians.
-   */
-  public SingleJointedArmSim(
-      DCMotor gearbox,
-      double gearing,
-      double jKgMetersSquared,
-      double armLengthMeters,
-      double minAngleRads,
-      double maxAngleRads,
-      boolean simulateGravity,
-      double startingAngleRads) {
-    this(
-        gearbox,
-        gearing,
-        jKgMetersSquared,
-        armLengthMeters,
-        minAngleRads,
-        maxAngleRads,
-        simulateGravity,
-        startingAngleRads,
-        null);
-  }
-
   /**
    * Creates a simulated arm mechanism.
    *
@@ -150,7 +84,8 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
    * @param maxAngleRads The maximum angle that the arm is capable of.
    * @param simulateGravity Whether gravity should be simulated or not.
    * @param startingAngleRads The initial position of the Arm simulation in radians.
-   * @param measurementStdDevs The standard deviations of the measurements.
+   * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
+   *     noise is desired. If present must have 1 element for position.
    */
   public SingleJointedArmSim(
       DCMotor gearbox,
@@ -161,7 +96,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
       double maxAngleRads,
       boolean simulateGravity,
       double startingAngleRads,
-      Matrix<N2, N1> measurementStdDevs) {
+      double... measurementStdDevs) {
     this(
         LinearSystemId.createSingleJointedArmSystem(gearbox, jKgMetersSquared, gearing),
         gearbox,
@@ -247,7 +182,6 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
    *
    * @return The aram current draw.
    */
-  @Override
   public double getCurrentDrawAmps() {
     // Reductions are greater than 1, so a reduction of 10:1 would mean the motor is
     // spinning 10x faster than the output
@@ -262,6 +196,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
    */
   public void setInputVoltage(double volts) {
     setInput(volts);
+    clampInput(RobotController.getBatteryVoltage());
   }
 
   /**
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
index 73a28100ce..deade245fa 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
@@ -35,7 +35,8 @@ class ElevatorSimTest {
             3.0,
             true,
             0.0,
-            VecBuilder.fill(0.01, 0.00));
+            0.01,
+            0.0);
 
     try (var motor = new PWMVictorSPX(0);
         var encoder = new Encoder(0, 1)) {
@@ -74,7 +75,8 @@ class ElevatorSimTest {
             1.0,
             true,
             0.0,
-            VecBuilder.fill(0.01, 0.00));
+            0.01,
+            0.0);
 
     for (int i = 0; i < 100; i++) {
       sim.setInput(VecBuilder.fill(0));
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
index fcf53d5f50..3c92370019 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.armsimulation.subsystems;
 
-import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.util.Units;
@@ -51,8 +50,8 @@ public class Arm implements AutoCloseable {
           Constants.kMaxAngleRads,
           true,
           0,
-          VecBuilder.fill(
-              Constants.kArmEncoderDistPerPulse, 0.0) // Add noise with a std-dev of 1 tick
+          Constants.kArmEncoderDistPerPulse,
+          0.0 // Add noise with a std-dev of 1 tick
           );
   private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java
index 66fb6ec58d..ac2423f434 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.elevatorexponentialsimulation.subsystems;
 
-import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.controller.ElevatorFeedforward;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.system.plant.DCMotor;
@@ -60,7 +59,8 @@ public class Elevator implements AutoCloseable {
           Constants.kMaxElevatorHeightMeters,
           true,
           0,
-          VecBuilder.fill(0.005, 0.0));
+          0.005,
+          0.0);
   private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
   private final PWMSim m_motorSim = new PWMSim(m_motor);
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
index 8c0b0f6bbc..d4f04fed26 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.elevatorsimulation.subsystems;
 
-import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.controller.ElevatorFeedforward;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.system.plant.DCMotor;
@@ -55,7 +54,8 @@ public class Elevator implements AutoCloseable {
           Constants.kMaxElevatorHeightMeters,
           true,
           0,
-          VecBuilder.fill(0.01, 0.0));
+          0.01,
+          0.0);
   private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
   private final PWMSim m_motorSim = new PWMSim(m_motor);
 
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
index 0da5e3d930..8a3d92b8e6 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
@@ -55,8 +55,7 @@ class PotentiometerPIDTest {
             0.0,
             Robot.kFullHeightMeters,
             true,
-            0,
-            null);
+            0);
     m_analogSim = new AnalogInputSim(Robot.kPotChannel);
     m_motorSim = new PWMSim(Robot.kMotorChannel);
     m_joystickSim = new JoystickSim(Robot.kJoystickChannel);