diff --git a/simulation/halsim_gui/src/main/native/cpp/EncoderGui.cpp b/simulation/halsim_gui/src/main/native/cpp/EncoderGui.cpp
index 98bc616cfc..6fdb1a543e 100644
--- a/simulation/halsim_gui/src/main/native/cpp/EncoderGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/EncoderGui.cpp
@@ -95,6 +95,16 @@ static void DisplayEncoders() {
           if (ImGui::Combo("Direction", &direction, options, 2))
             HALSIM_SetEncoderDirection(i, direction);
           ImGui::PopID();
+
+          // distance
+          double distance = HALSIM_GetEncoderDistance(i);
+          if (ImGui::InputDouble("Distance", &distance, 0, 0, "%.6g"))
+            HALSIM_SetEncoderDistance(i, distance);
+
+          // rate
+          double rate = HALSIM_GetEncoderRate(i);
+          if (ImGui::InputDouble("Rate", &rate, 0, 0, "%.6g"))
+            HALSIM_SetEncoderRate(i, rate);
         }
       }
     }