diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index f9406558..58c46663 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -75,7 +75,6 @@ static void step_cb_wrapper(void* ctx) {
 // @brief Sets up all components of the axis,
 // such as gate driver and encoder hardware.
 void Axis::setup() {
-    encoder_.setup();
     motor_.setup();
 }
 
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index d31bbd13..3cc077ea 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -235,6 +235,10 @@ int odrive_main(void) {
         axes[i]->setup();
     }
 
+    for(auto axis : axes){
+        axis->encoder_.setup();
+    }
+
     // Start PWM and enable adc interrupts/callbacks
     start_adc_pwm();