diff --git a/hal/src/main/java/edu/wpi/first/hal/sim/EncoderSim.java b/hal/src/main/java/edu/wpi/first/hal/sim/EncoderSim.java
index 408ca847ec..853b86873c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/sim/EncoderSim.java
+++ b/hal/src/main/java/edu/wpi/first/hal/sim/EncoderSim.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -104,6 +104,22 @@ public class EncoderSim {
     EncoderDataJNI.setSamplesToAverage(m_index, samplesToAverage);
   }
 
+  public void setDistance(double distance) {
+    EncoderDataJNI.setDistance(m_index, distance);
+  }
+
+  public double getDistance() {
+    return EncoderDataJNI.getDistance(m_index);
+  }
+
+  public void setRate(double rate) {
+    EncoderDataJNI.setRate(m_index, rate);
+  }
+
+  public double getRate() {
+    return EncoderDataJNI.getRate(m_index);
+  }
+
   public void resetData() {
     EncoderDataJNI.resetData(m_index);
   }
diff --git a/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/EncoderDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/EncoderDataJNI.java
index 17e242e7fd..e99504289f 100644
--- a/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/EncoderDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/EncoderDataJNI.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -51,5 +51,10 @@ public class EncoderDataJNI extends JNIWrapper {
   public static native int getSamplesToAverage(int index);
   public static native void setSamplesToAverage(int index, int samplesToAverage);
 
+  public static native void setDistance(int index, double distance);
+  public static native double getDistance(int index);
+  public static native void setRate(int index, double rate);
+  public static native double getRate(int index);
+
   public static native void resetData(int index);
 }
diff --git a/hal/src/main/native/include/mockdata/EncoderData.h b/hal/src/main/native/include/mockdata/EncoderData.h
index d5d12be4b7..7ae3c4b592 100644
--- a/hal/src/main/native/include/mockdata/EncoderData.h
+++ b/hal/src/main/native/include/mockdata/EncoderData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -93,6 +93,11 @@ void HALSIM_RegisterEncoderAllCallbacks(int32_t index,
                                         HAL_NotifyCallback callback,
                                         void* param, HAL_Bool initialNotify);
 
+void HALSIM_SetEncoderDistance(int32_t index, double distance);
+double HALSIM_GetEncoderDistance(int32_t index);
+void HALSIM_SetEncoderRate(int32_t index, double rate);
+double HALSIM_GetEncoderRate(int32_t index);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif
diff --git a/hal/src/main/native/include/simulation/EncoderSim.h b/hal/src/main/native/include/simulation/EncoderSim.h
index f80e8a875b..a97f1e3a9e 100644
--- a/hal/src/main/native/include/simulation/EncoderSim.h
+++ b/hal/src/main/native/include/simulation/EncoderSim.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -156,6 +156,16 @@ class EncoderSim {
 
   void ResetData() { HALSIM_ResetEncoderData(m_index); }
 
+  void SetDistance(double distance) {
+    HALSIM_SetEncoderDistance(m_index, distance);
+  }
+
+  double GetDistance() { return HALSIM_GetEncoderDistance(m_index); }
+
+  void SetRate(double rate) { HALSIM_SetEncoderRate(m_index, rate); }
+
+  double GetRate() { return HALSIM_GetEncoderRate(m_index); }
+
  private:
   int m_index;
 };
diff --git a/hal/src/main/native/sim/jni/EncoderDataJNI.cpp b/hal/src/main/native/sim/jni/EncoderDataJNI.cpp
index 8992b0c426..8d6eef8d13 100644
--- a/hal/src/main/native/sim/jni/EncoderDataJNI.cpp
+++ b/hal/src/main/native/sim/jni/EncoderDataJNI.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -413,6 +413,54 @@ Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_setSamplesToAverage
   HALSIM_SetEncoderSamplesToAverage(index, value);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
+ * Method:    setDistance
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_setDistance
+  (JNIEnv*, jclass, jint index, jdouble value)
+{
+  HALSIM_SetEncoderDistance(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
+ * Method:    getDistance
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_getDistance
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetEncoderDistance(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
+ * Method:    setRate
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_setRate
+  (JNIEnv*, jclass, jint index, jdouble value)
+{
+  HALSIM_SetEncoderRate(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
+ * Method:    getRate
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_EncoderDataJNI_getRate
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetEncoderRate(index);
+}
+
 /*
  * Class:     edu_wpi_first_hal_sim_mockdata_EncoderDataJNI
  * Method:    resetData
diff --git a/hal/src/main/native/sim/mockdata/EncoderData.cpp b/hal/src/main/native/sim/mockdata/EncoderData.cpp
index 33bd073a32..6a2fb4db63 100644
--- a/hal/src/main/native/sim/mockdata/EncoderData.cpp
+++ b/hal/src/main/native/sim/mockdata/EncoderData.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -66,6 +66,32 @@ DEFINE_CAPI(HAL_Bool, ReverseDirection, reverseDirection)
 DEFINE_CAPI(int32_t, SamplesToAverage, samplesToAverage)
 DEFINE_CAPI(double, DistancePerPulse, distancePerPulse)
 
+void HALSIM_SetEncoderDistance(int32_t index, double distance) {
+  auto& simData = SimEncoderData[index];
+  simData.count = distance / simData.distancePerPulse;
+}
+
+double HALSIM_GetEncoderDistance(int32_t index) {
+  auto& simData = SimEncoderData[index];
+  return simData.count * simData.distancePerPulse;
+}
+
+void HALSIM_SetEncoderRate(int32_t index, double rate) {
+  auto& simData = SimEncoderData[index];
+  if (rate == 0) {
+    simData.period = std::numeric_limits<double>::infinity();
+    return;
+  }
+
+  simData.period = simData.distancePerPulse / rate;
+}
+
+double HALSIM_GetEncoderRate(int32_t index) {
+  auto& simData = SimEncoderData[index];
+
+  return simData.distancePerPulse / simData.period;
+}
+
 #define REGISTER(NAME) \
   SimEncoderData[index].NAME.RegisterCallback(callback, param, initialNotify)