diff --git a/photonlib-python-examples/poseest/drivetrain.py b/photonlib-python-examples/poseest/drivetrain.py
index 5bb949768..204da7dab 100644
--- a/photonlib-python-examples/poseest/drivetrain.py
+++ b/photonlib-python-examples/poseest/drivetrain.py
@@ -6,6 +6,7 @@
 
 import math
 import wpilib
+import wpilib.simulation
 import wpimath.geometry
 import wpimath.kinematics
 import swervemodule
@@ -30,7 +31,11 @@ def __init__(self) -> None:
         self.backLeft   = swervemodule.SwerveModule(5, 6, 8, 9, 10, 11, 3)
         self.backRight  = swervemodule.SwerveModule(7, 8, 12, 13, 14, 15, 4)
 
+        self.debugField = wpilib.Field2d()
+        wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
+
         self.gyro = wpilib.AnalogGyro(0)
+        self.simGyro = wpilib.simulation.AnalogGyroSim(self.gyro)
 
         self.kinematics = wpimath.kinematics.SwerveDrive4Kinematics(
             self.frontLeftLocation,
@@ -112,6 +117,19 @@ def getModuleStates(self) -> list[wpimath.kinematics.SwerveModuleState]:
                  self.backLeft.getState(),
                  self.backRight.getState(),
                ]
+    
+    def getModulePoses(self) -> list[wpimath.geometry.Pose2d]:
+        p = self.odometry.getPose()
+        flTrans = wpimath.geometry.Transform2d(self.frontLeftLocation, self.frontLeft.getAbsoluteHeading())
+        frTrans = wpimath.geometry.Transform2d(self.frontRightLocation, self.frontRight.getAbsoluteHeading())
+        blTrans = wpimath.geometry.Transform2d(self.backLeftLocation, self.backLeft.getAbsoluteHeading())
+        brTrans = wpimath.geometry.Transform2d(self.backRightLocation, self.backRight.getAbsoluteHeading())
+        return [ 
+                p.transformBy(flTrans),
+                p.transformBy(frTrans),
+                p.transformBy(blTrans),
+                p.transformBy(brTrans),
+            ]
 
     def getChassisSpeeds(self) -> wpimath.kinematics.ChassisSpeeds:
         return self.kinematics.toChassisSpeeds(self.getModuleStates())
@@ -137,3 +155,12 @@ def log(self):
         self.frontRight.log()
         self.backLeft.log()
         self.backRight.log()
+
+        self.debugField.getObject("EstimatedRobot").setPose(self.odometry.getPose())
+        self.debugField.getObject("EstimatedRobotModules").setPoses(self.getModulePoses())
+
+    def simulationPeriodic(self):
+        self.frontLeft.simulationPeriodic()
+        self.frontRight.simulationPeriodic()
+        self.backLeft.simulationPeriodic()
+        self.backRight.simulationPeriodic()
\ No newline at end of file
diff --git a/photonlib-python-examples/poseest/robot.py b/photonlib-python-examples/poseest/robot.py
index b456dced6..cdf2f416c 100644
--- a/photonlib-python-examples/poseest/robot.py
+++ b/photonlib-python-examples/poseest/robot.py
@@ -16,6 +16,7 @@ def robotInit(self) -> None:
         self.swerve = drivetrain.Drivetrain()
 
     def robotPeriodic(self) -> None:
+        self.swerve.updateOdometry()
         self.swerve.log()
 
     def teleopPeriodic(self) -> None:
@@ -25,3 +26,6 @@ def teleopPeriodic(self) -> None:
 
         self.swerve.drive(xSpeed, ySpeed, rot, True, self.getPeriod())
 
+    def _simulationPeriodic(self) -> None:
+        self.swerve.simulationPeriodic()
+        return super()._simulationPeriodic()
\ No newline at end of file
diff --git a/photonlib-python-examples/poseest/simgui-ds.json b/photonlib-python-examples/poseest/simgui-ds.json
index 73cc713cb..addd5860c 100644
--- a/photonlib-python-examples/poseest/simgui-ds.json
+++ b/photonlib-python-examples/poseest/simgui-ds.json
@@ -11,13 +11,16 @@
           "incKey": 83
         },
         {
-          "decKey": 69,
           "decayRate": 0.0,
-          "incKey": 82,
           "keyRate": 0.009999999776482582
+        },
+        {},
+        {
+          "decKey": 81,
+          "incKey": 69
         }
       ],
-      "axisCount": 3,
+      "axisCount": 6,
       "buttonCount": 4,
       "buttonKeys": [
         90,
@@ -88,5 +91,10 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
   ]
 }
diff --git a/photonlib-python-examples/poseest/simgui.json b/photonlib-python-examples/poseest/simgui.json
index 5f9d2754c..f7cfb3805 100644
--- a/photonlib-python-examples/poseest/simgui.json
+++ b/photonlib-python-examples/poseest/simgui.json
@@ -1,7 +1,56 @@
 {
+  "HALProvider": {
+    "Encoders": {
+      "0": {
+        "header": {
+          "open": true
+        }
+      },
+      "window": {
+        "visible": true
+      }
+    }
+  },
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Drivetrain Debug": "Field2d"
+    },
+    "windows": {
+      "/SmartDashboard/Drivetrain Debug": {
+        "EstimatedRobotModules": {
+          "image": "D:\\Projects\\photonvision\\photonlib-python-examples\\poseest\\swerve_module.png",
+          "length": 0.4000000059604645,
+          "width": 0.4000000059604645
+        },
+        "bottom": 1476,
+        "height": 8.210550308227539,
+        "left": 150,
+        "right": 2961,
+        "top": 79,
+        "width": 16.541748046875,
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "SmartDashboard": {
+        "Drivetrain Debug": {
+          "double[]##v_/SmartDashboard/Drivetrain Debug/EstimatedRobot": {
+            "open": true
+          },
+          "double[]##v_/SmartDashboard/Drivetrain Debug/EstimatedRobotModules": {
+            "open": true
+          },
+          "double[]##v_/SmartDashboard/Drivetrain Debug/Robot": {
+            "open": true
+          }
+        },
+        "open": true
+      }
     }
   },
   "NetworkTables Info": {
diff --git a/photonlib-python-examples/poseest/swerve_module.png b/photonlib-python-examples/poseest/swerve_module.png
new file mode 100644
index 000000000..25990c839
Binary files /dev/null and b/photonlib-python-examples/poseest/swerve_module.png differ
diff --git a/photonlib-python-examples/poseest/swervemodule.py b/photonlib-python-examples/poseest/swervemodule.py
index a7b6f5ede..e3056993d 100644
--- a/photonlib-python-examples/poseest/swervemodule.py
+++ b/photonlib-python-examples/poseest/swervemodule.py
@@ -6,7 +6,9 @@
 
 import math
 import wpilib
+import wpilib.simulation
 import wpimath.kinematics
+import wpimath.filter
 import wpimath.geometry
 import wpimath.controller
 import wpimath.trajectory
@@ -54,7 +56,7 @@ def __init__(
 
         # Gains are for example purposes only - must be determined for your own robot!
         self.turningPIDController = wpimath.controller.ProfiledPIDController(
-            1,
+            3,
             0,
             0,
             wpimath.trajectory.TrapezoidProfile.Constraints(
@@ -83,6 +85,17 @@ def __init__(
         # to be continuous.
         self.turningPIDController.enableContinuousInput(-math.pi, math.pi)
 
+        # Simulation Support
+        self.simDriveEncoder = wpilib.simulation.EncoderSim(self.driveEncoder)
+        self.simTurningEncoder = wpilib.simulation.EncoderSim(self.turningEncoder)
+        self.simDrivingMotor = wpilib.simulation.PWMSim(self.driveMotor)
+        self.simTurningMotor = wpilib.simulation.PWMSim(self.turningMotor)
+        self.simDrivingMotorFilter = wpimath.filter.LinearFilter.singlePoleIIR(0.1, 0.02)
+        self.simTurningMotorFilter = wpimath.filter.LinearFilter.singlePoleIIR(0.0001, 0.02)
+        self.simTurningEncoderPos = 0
+        self.simDrivingEncoderPos = 0
+
+
     def getState(self) -> wpimath.kinematics.SwerveModuleState:
         """Returns the current state of the module.
 
@@ -99,7 +112,7 @@ def getPosition(self) -> wpimath.kinematics.SwerveModulePosition:
         :returns: The current position of the module.
         """
         return wpimath.kinematics.SwerveModulePosition(
-            self.driveEncoder.getRate(),
+            self.driveEncoder.getDistance(),
             wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),
         )
 
@@ -143,7 +156,10 @@ def setDesiredState(
         self.driveMotor.setVoltage(driveOutput + driveFeedforward)
         self.turningMotor.setVoltage(turnOutput + turnFeedforward)
 
-    def log(self):
+    def getAbsoluteHeading(self) -> wpimath.geometry.Rotation2d:
+        return wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
+
+    def log(self) -> None:
         state = self.getState()
 
         table = "Module " + str(self.moduleNumber) + "/"
@@ -155,3 +171,20 @@ def log(self):
                 table + "Drive Velocity Feet", state.speed_fps)
         wpilib.SmartDashboard.putNumber(
                 table + "Drive Velocity Target Feet", self.desiredState.speed_fps)
+        wpilib.SmartDashboard.putNumber(table + "Drive Voltage", self.driveMotor.get() * 12.0)
+        wpilib.SmartDashboard.putNumber(table + "Steer Voltage", self.turningMotor.get() * 12.0)
+        
+    def simulationPeriodic(self) -> None:
+        driveVoltage = self.simDrivingMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
+        turnVoltage = self.simTurningMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
+        driveSpdRaw = driveVoltage / 12.0 * self.driveFeedforward.maxAchievableVelocity(12.0,0)
+        turnSpdRaw = turnVoltage / 12.0 * self.turnFeedforward.maxAchievableVelocity(12.0,0)
+        driveSpd = self.simDrivingMotorFilter.calculate(driveSpdRaw)
+        turnSpd = self.simTurningMotorFilter.calculate(turnSpdRaw)
+        self.simDrivingEncoderPos += 0.02 * driveSpd
+        self.simTurningEncoderPos += 0.02 * turnSpd
+        self.simDriveEncoder.setDistance(self.simDrivingEncoderPos)
+        self.simDriveEncoder.setRate(driveSpd)
+        self.simTurningEncoder.setDistance(self.simTurningEncoderPos)
+        self.simTurningEncoder.setRate(turnSpd)
+