diff --git a/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h b/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
index a5e6d625911..1055c8d8fa6 100644
--- a/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
+++ b/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
@@ -99,7 +99,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @param channel the channel to attach to
    * @param fullRange the value to report at maximum travel
-   * @param expectedZero the reading where you would expect a 0 from get()
+   * @param expectedZero the reading where you would expect a 0 from Get()
    */
   DutyCycleEncoder(int channel, double fullRange, double expectedZero);
 
@@ -108,7 +108,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @param dutyCycle the duty cycle to attach to
    * @param fullRange the value to report at maximum travel
-   * @param expectedZero the reading where you would expect a 0 from get()
+   * @param expectedZero the reading where you would expect a 0 from Get()
    */
   DutyCycleEncoder(DutyCycle& dutyCycle, double fullRange, double expectedZero);
 
@@ -117,7 +117,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @param dutyCycle the duty cycle to attach to
    * @param fullRange the value to report at maximum travel
-   * @param expectedZero the reading where you would expect a 0 from get()
+   * @param expectedZero the reading where you would expect a 0 from Get()
    */
   DutyCycleEncoder(DutyCycle* dutyCycle, double fullRange, double expectedZero);
 
@@ -126,7 +126,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @param dutyCycle the duty cycle to attach to
    * @param fullRange the value to report at maximum travel
-   * @param expectedZero the reading where you would expect a 0 from get()
+   * @param expectedZero the reading where you would expect a 0 from Get()
    */
   DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle, double fullRange,
                    double expectedZero);
@@ -136,7 +136,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @param digitalSource the digital source to attach to
    * @param fullRange the value to report at maximum travel
-   * @param expectedZero the reading where you would expect a 0 from get()
+   * @param expectedZero the reading where you would expect a 0 from Get()
    */
   DutyCycleEncoder(DigitalSource& digitalSource, double fullRange,
                    double expectedZero);
@@ -146,7 +146,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @param digitalSource the digital source to attach to
    * @param fullRange the value to report at maximum travel
-   * @param expectedZero the reading where you would expect a 0 from get()
+   * @param expectedZero the reading where you would expect a 0 from Get()
    */
   DutyCycleEncoder(DigitalSource* digitalSource, double fullRange,
                    double expectedZero);
@@ -156,7 +156,7 @@ class DutyCycleEncoder : public wpi::Sendable,
    *
    * @param digitalSource the digital source to attach to
    * @param fullRange the value to report at maximum travel
-   * @param expectedZero the reading where you would expect a 0 from get()
+   * @param expectedZero the reading where you would expect a 0 from Get()
    */
   DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource,
                    double fullRange, double expectedZero);
@@ -199,12 +199,12 @@ class DutyCycleEncoder : public wpi::Sendable,
   void SetConnectedFrequencyThreshold(int frequency);
 
   /**
-   * Get the encoder value.
+   * Get the encoder value in rotations.
    *
    * @warning This will return inaccurate values for up to 2 seconds after this
    * encoder is initialized unless SetAssumedFrequency() is used.
    *
-   * @return the encoder value scaled by the full range input
+   * @return the encoder value in rotations
    */
   double Get() const;
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
index 5e98b7f71f1..35d741acfe2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
@@ -54,8 +54,10 @@ public void close() {
   }
 
   /**
-   * Get the frequency of the duty cycle signal. <b>Warning: This will return inaccurate values for
-   * up to 2 seconds after the duty cycle input is initialized.</b>
+   * Get the frequency of the duty cycle signal.
+   *
+   * <p><b>Warning: This will return inaccurate values for up to 2 seconds after the duty cycle
+   * input is initialized.</b>
    *
    * @return frequency in Hertz
    */
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 c79afe6d950..dbb54cb7983 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
@@ -16,10 +16,10 @@
  * Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the
  * CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder.
  *
- * <p>Warning: By default, position readings from {@link #get()} will be innacurate for up to 2
- * seconds after this encoder is initialized. Setting the frequency of the encoder's output using
- * {@link #setAssumedFrequency(double)} can be used to mitigate this, though users should verify the
- * true frequency of the specific encoder in use as it can vary between devices.
+ * <p><b>Warning: By default, position readings from {@link #get()} will be innacurate for up to 2
+ * seconds after this encoder is initialized.</b> Setting the frequency of the encoder's output
+ * using {@link #setAssumedFrequency(double)} can be used to mitigate this, though users should
+ * verify the true frequency of the specific encoder in use as it can vary between devices.
  */
 public class DutyCycleEncoder implements Sendable, AutoCloseable {
   private final DutyCycle m_dutyCycle;
@@ -142,11 +142,10 @@ private double mapSensorRange(double pos) {
   }
 
   /**
-   * Get the encoder value since the last reset. <b> Warning: This will return inaccurate values for
-   * up to 2 seconds after this encoder is initialized unless {@link #setAssumedFrequency(double)}
-   * is used.</b>
+   * Get the encoder value in rotations.
    *
-   * <p>This is reported in rotations since the last reset.
+   * <p><b> Warning: This will return inaccurate values for up to 2 seconds after this encoder is
+   * initialized unless {@link #setAssumedFrequency(double)} is used.</b>
    *
    * @return the encoder value in rotations
    */
@@ -196,8 +195,10 @@ public void setDutyCycleRange(double min, double max) {
   }
 
   /**
-   * Get the frequency in Hz of the duty cycle signal from the encoder. <b>Warning: This will return
-   * inaccurate values for up to 2 seconds after this encoder is initialized.</b>
+   * Get the frequency in Hz of the duty cycle signal from the encoder.
+   *
+   * <p><b>Warning: This will return inaccurate values for up to 2 seconds after this encoder is
+   * initialized.</b>
    *
    * @return duty cycle frequency in Hz
    */