Update simulation classes to be based on SysId constants as well as physical constants

Update for WPIlib 2027 as well. Refer to https://github.wpilib.org/allwpilib/docs/beta/java/org/wpilib/math/system/Models.html

Start by locating the simulation classes in the repository, then review the linked WPILib 2027 Models documentation and the existing physical-constant handling. Update the classes to support both SysId and physical constants, and verify that the simulation behavior remains correct for both inputs.

Written by the indexing model from the issue text.