# Drivetrain Simulation Tutorial

This is a tutorial for implementing a simulation model of your differential drivetrain using the new 2021 simulation classes. Although the code that we will cover in this tutorial is framework-agnostic, there are two full examples available – one for each framework.

• StateSpaceDifferentialDriveSimulation (Java, C++) uses the command-based framework.

• SimpleDifferentialDriveSimulation (Java, C++) uses a more traditional approach to data flow.

Both of these examples are also available in the VS Code New Project window.