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 4440a2d7787..53b19271751 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
@@ -7,6 +7,7 @@
 import static edu.wpi.first.units.Units.Radians;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
+import static edu.wpi.first.units.Units.Volts;
 
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
@@ -20,6 +21,7 @@
 import edu.wpi.first.units.measure.MutAngle;
 import edu.wpi.first.units.measure.MutAngularAcceleration;
 import edu.wpi.first.units.measure.MutAngularVelocity;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated DC motor mechanism. */
@@ -43,6 +45,9 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
   private final MutAngularAcceleration m_angularAcceleration =
       RadiansPerSecondPerSecond.mutable(0.0);
 
+  // Input voltage of the system
+  private final MutVoltage m_voltage = Volts.mutable(0);
+
   /**
    * Creates a simulated DC motor mechanism.
    *
@@ -243,6 +248,16 @@ public double getInputVoltage() {
     return getInput(0);
   }
 
+  /**
+   * Gets the input voltage for the DC motor.
+   *
+   * @return The DC motor's input voltage.
+   */
+  public Voltage getInputVoltageMeasure() {
+    m_voltage.mut_setMagnitude(getInputVoltage());
+    return m_voltage;
+  }
+  
   /**
    * Sets the input voltage for the DC motor.
    *
@@ -252,4 +267,13 @@ public void setInputVoltage(double volts) {
     setInput(volts);
     clampInput(RobotController.getBatteryVoltage());
   }
+
+  /**
+   * Sets the input voltage for the DC motor.
+   *
+   * @param volts The input voltage.
+   */
+  public void setInputVoltage(Voltage volts) {
+    setInputVoltage(volts.in(Volts));
+  }
 }