diff --git a/include/position/odomWheel.hpp b/include/position/odomWheel.hpp
index d2b66059..ff8185c2 100644
--- a/include/position/odomWheel.hpp
+++ b/include/position/odomWheel.hpp
@@ -10,26 +10,26 @@ namespace Pronounce {
      */
     class OdomWheel {
     private:
-        double mmPosition = 0;
+        double position = 0;
         double lastPosition = 0;
     public:
 
         /**
-         * Get the mm at the current moment
+         * Get the position at the current moment
          */
-        double getMM() {
-            return this->mmPosition;
+        double getPosition() {
+            return this->position;
         }
         /**
-         * Set the MM
+         * Set the position
          */
-        void setMM(double mmPosition) {
-            this->mmPosition = mmPosition;
+        void setPosition(double position) {
+            this->position = position;
         }
 
         double getChange() {
-            double difference = this->getMM() - this->lastPosition;
-            this->lastPosition = this->getMM();
+            double difference = this->getPosition() - this->lastPosition;
+            this->lastPosition = this->getPosition();
             return difference;
         }
 
diff --git a/src/position/motorOdom.cpp b/src/position/motorOdom.cpp
index a2ad9052..aea799c7 100644
--- a/src/position/motorOdom.cpp
+++ b/src/position/motorOdom.cpp
@@ -1,9 +1,9 @@
 #include "motorOdom.hpp"
 
 namespace Pronounce {
-    MotorOdom::MotorOdom(pros::Motor* motor, double radiusMM) {
+    MotorOdom::MotorOdom(pros::Motor* motor, double radius) {
         this->motor = motor;
-        this->radius = radiusMM;
+        this->radius = radius;
         this->motor->set_encoder_units(pros::E_MOTOR_ENCODER_ROTATIONS);
     }
 
@@ -11,6 +11,6 @@ namespace Pronounce {
     }
 
     void MotorOdom::update() {
-        this->setMM(motor->get_position() * radius * M_PI * 2.0 * tuningFactor);
+        this->setPosition(motor->get_position() * radius * M_PI * 2.0 * tuningFactor);
     }
 } // namespace Pronounce