diff --git a/Thing.h b/Thing.h
index bce0053..cb63c4f 100644
--- a/Thing.h
+++ b/Thing.h
@@ -32,7 +32,7 @@ class Thing {
     static const unsigned char ControlledMotor = 0x06;
     static const unsigned char UncontrolledMotor = 0x07;
     static const unsigned char Servo = 0x08;
-    static const unsigned char IncrementalEncoder = 0x19;
+    static const unsigned char RelativeEncoder = 0x19;
     // Other
     static const unsigned char Root = 0x10;
     static const unsigned char Roboid = 0x09;
diff --git a/Things/RelativeEncoder.cpp b/Things/RelativeEncoder.cpp
index 573f84b..4fbef8c 100644
--- a/Things/RelativeEncoder.cpp
+++ b/Things/RelativeEncoder.cpp
@@ -3,7 +3,7 @@
 namespace RoboidControl {
 
 RelativeEncoder::RelativeEncoder(Thing* parent) : Thing(parent) {
-  this->type = Type::IncrementalEncoder;
+  this->type = Type::RelativeEncoder;
 }
 
 float RelativeEncoder::GetRotationSpeed() {