diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index f0c65445..4fe75689 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -330,8 +330,8 @@ void Encoder::sample_now() {
         } break;
 
         case MODE_SINCOS: {
-            sincos_sample_s_ = (get_adc_voltage(get_gpio(config_.sincos_gpio_pin_sin)) / 3.3f) - 0.5f;
-            sincos_sample_c_ = (get_adc_voltage(get_gpio(config_.sincos_gpio_pin_cos)) / 3.3f) - 0.5f;
+            sincos_sample_s_ = get_adc_relative_voltage(get_gpio(config_.sincos_gpio_pin_sin)) - 0.5f;
+            sincos_sample_c_ = get_adc_relative_voltage(get_gpio(config_.sincos_gpio_pin_cos)) - 0.5f;
         } break;
 
         case MODE_SPI_ABS_AMS:
diff --git a/Firmware/MotorControl/low_level.cpp b/Firmware/MotorControl/low_level.cpp
index 9a6f9ca2..abd5fc09 100644
--- a/Firmware/MotorControl/low_level.cpp
+++ b/Firmware/MotorControl/low_level.cpp
@@ -311,8 +311,12 @@ void start_general_purpose_adc() {
 // The true frequency is slightly lower because of the injected vbus
 // measurements
 float get_adc_voltage(Stm32Gpio gpio) {
+    return get_adc_relative_voltage(gpio) * adc_ref_voltage;
+}
+
+float get_adc_relative_voltage(Stm32Gpio gpio) {
     const uint16_t channel = channel_from_gpio(gpio);
-    return get_adc_voltage_channel(channel);
+    return get_adc_relative_voltage_ch(channel);
 }
 
 // @brief Given a GPIO_port and pin return the associated adc_channel.
@@ -358,12 +362,11 @@ uint16_t channel_from_gpio(Stm32Gpio gpio) {
     return channel;
 }
 
-// @brief Given an adc channel return the measured voltage.
+// @brief Given an adc channel return the voltage as a ratio of adc_ref_voltage
 // returns -1.0f if the channel is not valid.
-float get_adc_voltage_channel(uint16_t channel)
-{
+float get_adc_relative_voltage_ch(uint16_t channel) {
     if (channel < ADC_CHANNEL_COUNT)
-        return ((float)adc_measurements_[channel]) * (adc_ref_voltage / adc_full_scale);
+        return (float)adc_measurements_[channel] / adc_full_scale;
     else
         return -1.0f;
 }
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index e02ef5c2..fdae02a1 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -46,12 +46,15 @@ void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
                  uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset,
                  TIM_HandleTypeDef* htim_refbase = nullptr);
 void start_general_purpose_adc();
-float get_adc_voltage(Stm32Gpio gpio);
-uint16_t channel_from_gpio(Stm32Gpio gpio);
-float get_adc_voltage_channel(uint16_t channel);
 void pwm_in_init();
 void start_analog_thread();
 
+// ADC getters
+uint16_t channel_from_gpio(Stm32Gpio gpio);
+float get_adc_voltage(Stm32Gpio gpio);
+float get_adc_relative_voltage(Stm32Gpio gpio);
+float get_adc_relative_voltage_ch(uint16_t channel);
+
 void update_brake_current();
 
 #ifdef __cplusplus
diff --git a/Firmware/MotorControl/thermistor.cpp b/Firmware/MotorControl/thermistor.cpp
index df3b1d0d..4d16ae61 100644
--- a/Firmware/MotorControl/thermistor.cpp
+++ b/Firmware/MotorControl/thermistor.cpp
@@ -20,8 +20,7 @@ ThermistorCurrentLimiter::ThermistorCurrentLimiter(uint16_t adc_channel,
 }
 
 void ThermistorCurrentLimiter::update() {
-    const float voltage = get_adc_voltage_channel(adc_channel_);
-    const float normalized_voltage = voltage / adc_ref_voltage;
+    const float normalized_voltage = get_adc_relative_voltage_ch(adc_channel_);
     temperature_ = horner_poly_eval(normalized_voltage, coefficients_, num_coeffs_);
 }