diff --git a/AbsoluteEncoder.h b/AbsoluteEncoder.h
index 796fc90..f0ca0f6 100644
--- a/AbsoluteEncoder.h
+++ b/AbsoluteEncoder.h
@@ -9,7 +9,7 @@ class AbsoluteEncoder {
  public:
   AbsoluteEncoder() {}
 
-  virtual Angle GetActualAngle() = 0;
+  virtual Angle16 GetActualAngle() = 0;
   virtual float GetActualVelocity() = 0;
 };
 
diff --git a/ServoMotor.cpp b/ServoMotor.cpp
index 639d200..c21294b 100644
--- a/ServoMotor.cpp
+++ b/ServoMotor.cpp
@@ -10,7 +10,7 @@ ServoMotor::ServoMotor()
   this->hasTargetAngle = false;
 }
 
-void ServoMotor::SetTargetAngle(Angle angle) {
+void ServoMotor::SetTargetAngle(Angle16 angle) {
   angle = Float::Clamp(angle, minAngle, maxAngle);
 
   if (maxVelocity == 0.0F || hasTargetAngle == false) {
@@ -23,7 +23,7 @@ void ServoMotor::SetTargetAngle(Angle angle) {
   this->hasTargetAngle = true;
 }
 
-Angle ServoMotor::GetTargetAngle() {
+Angle16 ServoMotor::GetTargetAngle() {
   return this->targetAngle;
 }
 
diff --git a/ServoMotor.h b/ServoMotor.h
index f44b5b5..255bbaf 100644
--- a/ServoMotor.h
+++ b/ServoMotor.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "ControlledMotor.h"
+#include "LinearAlgebra/Angle16.h"
 
 namespace Passer {
 namespace RoboidContol {
@@ -16,8 +17,8 @@ class ServoMotor : public Thing {
   enum ControlMode { Position, Velocity };
   ControlMode controlMode = ControlMode::Position;
 
-  virtual void SetTargetAngle(Angle angle);
-  virtual Angle GetTargetAngle();
+  virtual void SetTargetAngle(Angle16 angle);
+  virtual Angle16 GetTargetAngle();
 
   virtual void SetMaximumVelocity(float maxVelocity);
 
@@ -28,16 +29,16 @@ class ServoMotor : public Thing {
 
  protected:
   bool hasTargetAngle = false;
-  Angle targetAngle = 0.0F;
+  Angle16 targetAngle = 0.0F;
 
   float maxVelocity = 0.0F;
 
   float targetVelocity = 0.0F;
-  Angle limitedTargetAngle = 0.0F;
+  Angle16 limitedTargetAngle = 0.0F;
 
   float lastUpdateTimeMs = 0.0F;
 
-  virtual void SetAngle(Angle angle) = 0;
+  virtual void SetAngle(Angle16 angle) = 0;
 };
 
 }  // namespace RoboidContol