diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
index 9acc3b04c3..27ea37f46d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
@@ -73,7 +73,7 @@ public class SwerveModule {
     // resolution.
     m_driveEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
 
-    // Set the distance (in this case, angle) per pulse for the turning encoder.
+    // Set the distance (in this case, angle) in radians per pulse for the turning encoder.
     // This is the the angle through an entire rotation (2 * pi) divided by the
     // encoder resolution.
     m_turningEncoder.setDistancePerPulse(2 * Math.PI / kEncoderResolution);
@@ -89,7 +89,8 @@ public class SwerveModule {
    * @return The current state of the module.
    */
   public SwerveModuleState getState() {
-    return new SwerveModuleState(m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.get()));
+    return new SwerveModuleState(
+        m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.getDistance()));
   }
 
   /**
@@ -99,7 +100,7 @@ public class SwerveModule {
    */
   public SwerveModulePosition getPosition() {
     return new SwerveModulePosition(
-        m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.get()));
+        m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.getDistance()));
   }
 
   /**
@@ -110,7 +111,7 @@ public class SwerveModule {
   public void setDesiredState(SwerveModuleState desiredState) {
     // Optimize the reference state to avoid spinning further than 90 degrees
     SwerveModuleState state =
-        SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.get()));
+        SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
 
     // Calculate the drive output from the drive PID controller.
     final double driveOutput =
@@ -120,7 +121,7 @@ public class SwerveModule {
 
     // Calculate the turning motor output from the turning PID controller.
     final double turnOutput =
-        m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
+        m_turningPIDController.calculate(m_turningEncoder.getDistance(), state.angle.getRadians());
 
     final double turnFeedforward =
         m_turnFeedforward.calculate(m_turningPIDController.getSetpoint().velocity);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
index 53f6593178..46825b2deb 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
@@ -66,7 +66,7 @@ public class SwerveModule {
     // Set whether drive encoder should be reversed or not
     m_driveEncoder.setReverseDirection(driveEncoderReversed);
 
-    // Set the distance (in this case, angle) per pulse for the turning encoder.
+    // Set the distance (in this case, angle) in radians per pulse for the turning encoder.
     // This is the the angle through an entire rotation (2 * pi) divided by the
     // encoder resolution.
     m_turningEncoder.setDistancePerPulse(ModuleConstants.kTurningEncoderDistancePerPulse);
@@ -85,7 +85,8 @@ public class SwerveModule {
    * @return The current state of the module.
    */
   public SwerveModuleState getState() {
-    return new SwerveModuleState(m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.get()));
+    return new SwerveModuleState(
+        m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.getDistance()));
   }
 
   /**
@@ -95,7 +96,7 @@ public class SwerveModule {
    */
   public SwerveModulePosition getPosition() {
     return new SwerveModulePosition(
-        m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.get()));
+        m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.getDistance()));
   }
 
   /**
@@ -106,7 +107,7 @@ public class SwerveModule {
   public void setDesiredState(SwerveModuleState desiredState) {
     // Optimize the reference state to avoid spinning further than 90 degrees
     SwerveModuleState state =
-        SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.get()));
+        SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
 
     // Calculate the drive output from the drive PID controller.
     final double driveOutput =
@@ -114,7 +115,7 @@ public class SwerveModule {
 
     // Calculate the turning motor output from the turning PID controller.
     final double turnOutput =
-        m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
+        m_turningPIDController.calculate(m_turningEncoder.getDistance(), state.angle.getRadians());
 
     // Calculate the turning motor output from the turning PID controller.
     m_driveMotor.set(driveOutput);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
index 8de7292610..afd74893c3 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
@@ -73,7 +73,7 @@ public class SwerveModule {
     // resolution.
     m_driveEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
 
-    // Set the distance (in this case, angle) per pulse for the turning encoder.
+    // Set the distance (in this case, angle) in radians per pulse for the turning encoder.
     // This is the the angle through an entire rotation (2 * pi) divided by the
     // encoder resolution.
     m_turningEncoder.setDistancePerPulse(2 * Math.PI / kEncoderResolution);
@@ -89,7 +89,8 @@ public class SwerveModule {
    * @return The current state of the module.
    */
   public SwerveModuleState getState() {
-    return new SwerveModuleState(m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.get()));
+    return new SwerveModuleState(
+        m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.getDistance()));
   }
 
   /**
@@ -99,7 +100,7 @@ public class SwerveModule {
    */
   public SwerveModulePosition getPosition() {
     return new SwerveModulePosition(
-        m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.get()));
+        m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.getDistance()));
   }
 
   /**
@@ -110,7 +111,7 @@ public class SwerveModule {
   public void setDesiredState(SwerveModuleState desiredState) {
     // Optimize the reference state to avoid spinning further than 90 degrees
     SwerveModuleState state =
-        SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.get()));
+        SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
 
     // Calculate the drive output from the drive PID controller.
     final double driveOutput =
@@ -120,7 +121,7 @@ public class SwerveModule {
 
     // Calculate the turning motor output from the turning PID controller.
     final double turnOutput =
-        m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
+        m_turningPIDController.calculate(m_turningEncoder.getDistance(), state.angle.getRadians());
 
     final double turnFeedforward =
         m_turnFeedforward.calculate(m_turningPIDController.getSetpoint().velocity);