diff --git a/Encoder.cpp b/Encoder.cpp
index 06184de..07e2558 100644
--- a/Encoder.cpp
+++ b/Encoder.cpp
@@ -1,9 +1,9 @@
 #include "Encoder.h"
 
-Encoder::Encoder(unsigned char transitionsPerRotation,
+Encoder::Encoder(unsigned char pulsesPerRevolution,
                  unsigned char distancePerRotation) {
   //: Encoder::Encoder() {
-  this->transitionsPerRevolution = transitionsPerRotation;
+  this->pulsesPerRevolution = pulsesPerRevolution;
   this->distancePerRevolution = distancePerRotation;
 }
 
diff --git a/Encoder.h b/Encoder.h
index 7b6f40b..e85cdaf 100644
--- a/Encoder.h
+++ b/Encoder.h
@@ -8,11 +8,11 @@ namespace RoboidControl {
 class Encoder {
 public:
   /// @brief Creates a sensor which measures distance from pulses
-  /// @param transitionsPerRevolution The number of pulse edges which make a
+  /// @param pulsesPerRevolution The number of pulse edges which make a
   /// full rotation
   /// @param distancePerRevolution The distance a wheel travels per full
   /// rotation
-  Encoder(unsigned char transitionsPerRevolution = 1,
+  Encoder(unsigned char pulsesPerRevolution = 1,
           unsigned char distancePerRevolution = 1);
 
   /// @brief Get the total number of pulses since the previous call
@@ -36,11 +36,11 @@ public:
   /// @param currentTimeMs The clock time in milliseconds
   /// @return The speed in meters per second.
   /// @note this value is dependent on the accurate setting of the
-  /// transitionsPerRevolution and distancePerRevolution parameters;
+  /// pulsesPerRevolution and distancePerRevolution parameters;
   virtual float GetSpeed(float currentTimeMs);
 
   /// @brief The numer of pulses corresponding to a full rotation of the axle
-  unsigned char transitionsPerRevolution = 1;
+  unsigned char pulsesPerRevolution = 1;
   /// @brief The number of revolutions which makes the wheel move forward 1
   /// meter
   unsigned char distancePerRevolution = 1;