diff --git a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
index 8e994e9baa..452f5cd729 100644
--- a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
@@ -89,6 +89,14 @@ units::turn_t DutyCycleEncoder::Get() const {
     auto counter2 = m_counter->Get();
     auto pos2 = m_dutyCycle->GetOutput();
     if (counter == counter2 && pos == pos2) {
+      // map sensor range
+      if (pos < m_sensorMin) {
+        pos = m_sensorMin;
+      }
+      if (pos > m_sensorMax) {
+        pos = m_sensorMax;
+      }
+      pos = (pos - m_sensorMin) / (m_sensorMax - m_sensorMin);
       units::turn_t turns{counter + pos - m_positionOffset};
       m_lastPosition = turns;
       return turns;
@@ -102,6 +110,11 @@ units::turn_t DutyCycleEncoder::Get() const {
   return m_lastPosition;
 }
 
+void DutyCycleEncoder::SetDutyCycleRange(double min, double max) {
+  m_sensorMin = std::clamp(min, 0.0, 1.0);
+  m_sensorMax = std::clamp(max, 0.0, 1.0);
+}
+
 void DutyCycleEncoder::SetDistancePerRotation(double distancePerRotation) {
   m_distancePerRotation = distancePerRotation;
   m_simDistancePerRotation.Set(distancePerRotation);
diff --git a/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h b/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
index ccf56adffd..ab7ded9d3f 100644
--- a/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
+++ b/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
@@ -121,6 +121,21 @@ class DutyCycleEncoder : public wpi::Sendable,
    */
   units::turn_t Get() const;
 
+  /**
+   * Set the encoder duty cycle range. As the encoder needs to maintain a duty
+   * cycle, the duty cycle cannot go all the way to 0% or all the way to 100%.
+   * For example, an encoder with a 4096 us period might have a minimum duty
+   * cycle of 1 us / 4096 us and a maximum duty cycle of 4095 / 4096 us. Setting
+   * the range will result in an encoder duty cycle less than or equal to the
+   * minimum being output as 0 rotation, the duty cycle greater than or equal to
+   * the maximum being output as 1 rotation, and values in between linearly
+   * scaled from 0 to 1.
+   *
+   * @param min minimum duty cycle (0-1 range)
+   * @param max maximum duty cycle (0-1 range)
+   */
+  void SetDutyCycleRange(double min, double max);
+
   /**
    * Set the distance per rotation of the encoder. This sets the multiplier used
    * to determine the distance driven based on the rotation value from the
@@ -175,6 +190,8 @@ class DutyCycleEncoder : public wpi::Sendable,
   double m_positionOffset = 0;
   double m_distancePerRotation = 1.0;
   mutable units::turn_t m_lastPosition{0.0};
+  double m_sensorMin = 0;
+  double m_sensorMax = 1;
 
   hal::SimDevice m_simDevice;
   hal::SimDouble m_simPosition;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
index ce5b684a56..c8d5bc9fc8 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
@@ -26,6 +27,8 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
   private double m_positionOffset;
   private double m_distancePerRotation = 1.0;
   private double m_lastPosition;
+  private double m_sensorMin;
+  private double m_sensorMax = 1.0;
 
   protected SimDevice m_simDevice;
   protected SimDouble m_simPosition;
@@ -105,6 +108,14 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
       double counter2 = m_counter.get();
       double pos2 = m_dutyCycle.getOutput();
       if (counter == counter2 && pos == pos2) {
+        // map sensor range
+        if (pos < m_sensorMin) {
+          pos = m_sensorMin;
+        }
+        if (pos > m_sensorMax) {
+          pos = m_sensorMax;
+        }
+        pos = (pos - m_sensorMin) / (m_sensorMax - m_sensorMin);
         double position = counter + pos - m_positionOffset;
         m_lastPosition = position;
         return position;
@@ -129,6 +140,22 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
     return m_positionOffset;
   }
 
+  /**
+   * Set the encoder duty cycle range. As the encoder needs to maintain a duty cycle, the duty cycle
+   * cannot go all the way to 0% or all the way to 100%. For example, an encoder with a 4096 us
+   * period might have a minimum duty cycle of 1 us / 4096 us and a maximum duty cycle of 4095 /
+   * 4096 us. Setting the range will result in an encoder duty cycle less than or equal to the
+   * minimum being output as 0 rotation, the duty cycle greater than or equal to the maximum being
+   * output as 1 rotation, and values in between linearly scaled from 0 to 1.
+   *
+   * @param min minimum duty cycle (0-1 range)
+   * @param max maximum duty cycle (0-1 range)
+   */
+  public void setDutyCycleRange(double min, double max) {
+    m_sensorMin = MathUtil.clamp(min, 0.0, 1.0);
+    m_sensorMax = MathUtil.clamp(max, 0.0, 1.0);
+  }
+
   /**
    * Set the distance per rotation of the encoder. This sets the multiplier used to determine the
    * distance driven based on the rotation value from the encoder. Set this value based on the how