diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
index a4245d6ce4..312d90c2bc 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
@@ -26,6 +26,11 @@ RobotContainer::RobotContainer() {
   ConfigureButtonBindings();
 
   // Set up default drive command
+  // A split-stick arcade command, with forward/backward controlled by the left
+  // hand, and turning controlled by the right.
+  // If you are using the keyboard as a joystick, it is recommended that you go
+  // to the following link to read about editing the keyboard settings.
+  // https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/simulation-gui.html#using-the-keyboard-as-a-joystick
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
index 4636c37628..03ee906979 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
@@ -47,6 +47,9 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
+        // If you are using the keyboard as a joystick, it is recommended that you go
+        // to the following link to read about editing the keyboard settings.
+        // https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/simulation-gui.html#using-the-keyboard-as-a-joystick
         new RunCommand(
             () ->
                 m_robotDrive.arcadeDrive(