diff --git a/Arduino/ODriveArduino/ODriveArduino.cpp b/Arduino/ODriveArduino/ODriveArduino.cpp
index cd3fcd5e..7bedfc46 100644
--- a/Arduino/ODriveArduino/ODriveArduino.cpp
+++ b/Arduino/ODriveArduino/ODriveArduino.cpp
@@ -42,7 +42,7 @@ void ODriveArduino::SetCurrent(int motor_number, float current) {
     serial_ << "c " << motor_number << " " << current << "\n";
 }
 
-void ODriveArduino::TrapezoidalMove(int motor_number, float position){
+void ODriveArduino::TrapezoidalMove(int motor_number, float position) {
     serial_ << "t " << motor_number << " " << position << "\n";
 }
 
@@ -50,11 +50,16 @@ float ODriveArduino::readFloat() {
     return readString().toFloat();
 }
 
-float ODriveArduino::GetVelocity(int motor_number){
+float ODriveArduino::GetVelocity(int motor_number) {
 	serial_<< "r axis" << motor_number << ".encoder.vel_estimate\n";
 	return ODriveArduino::readFloat();
 }
 
+float ODriveArduino::GetPosition(int motor_number) {
+    serial_ << "r axis" << motor_number << ".encoder.pos_estimate\n";
+    return ODriveArduino::readFloat();
+}
+
 int32_t ODriveArduino::readInt() {
     return readString().toInt();
 }
diff --git a/Arduino/ODriveArduino/ODriveArduino.h b/Arduino/ODriveArduino/ODriveArduino.h
index 6620f859..672e9db3 100644
--- a/Arduino/ODriveArduino/ODriveArduino.h
+++ b/Arduino/ODriveArduino/ODriveArduino.h
@@ -3,21 +3,10 @@
 #define ODriveArduino_h
 
 #include "Arduino.h"
+#include "ODriveEnums.h"
 
 class ODriveArduino {
 public:
-    enum AxisState_t {
-        AXIS_STATE_UNDEFINED = 0,           //<! will fall through to idle
-        AXIS_STATE_IDLE = 1,                //<! disable PWM and do nothing
-        AXIS_STATE_STARTUP_SEQUENCE = 2, //<! the actual sequence is defined by the config.startup_... flags
-        AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3,   //<! run all calibration procedures, then idle
-        AXIS_STATE_MOTOR_CALIBRATION = 4,   //<! run motor calibration
-        AXIS_STATE_SENSORLESS_CONTROL = 5,  //<! run sensorless control
-        AXIS_STATE_ENCODER_INDEX_SEARCH = 6, //<! run encoder index search
-        AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7, //<! run encoder offset calibration
-        AXIS_STATE_CLOSED_LOOP_CONTROL = 8  //<! run closed loop control
-    };
-
     ODriveArduino(Stream& serial);
 
     // Commands
@@ -30,6 +19,7 @@ public:
     void TrapezoidalMove(int motor_number, float position);
     // Getters
     float GetVelocity(int motor_number);
+    float GetPosition(int motor_number);
     // General params
     float readFloat();
     int32_t readInt();
diff --git a/Arduino/ODriveArduino/ODriveEnums.h b/Arduino/ODriveArduino/ODriveEnums.h
new file mode 100644
index 00000000..f196ecbd
--- /dev/null
+++ b/Arduino/ODriveArduino/ODriveEnums.h
@@ -0,0 +1,199 @@
+
+#ifndef ODriveEnums_h
+#define ODriveEnums_h
+
+/* TODO: This file is dangerous because the enums could potentially change between API versions. Should transmit as part of the JSON.
+** To regenerate this file, nagivate to the top level of the ODrive repository and run:
+** python Firmware/interface_generator_stub.py --definitions Firmware/odrive-interface.yaml --template tools/arduino_enums_template.j2 --output Arduino/ODriveArduino/ODriveEnums.h
+*/
+
+// ODrive.GpioMode
+enum GpioMode {
+    GPIO_MODE_DIGITAL                        = 0,
+    GPIO_MODE_DIGITAL_PULL_UP                = 1,
+    GPIO_MODE_DIGITAL_PULL_DOWN              = 2,
+    GPIO_MODE_ANALOG_IN                      = 3,
+    GPIO_MODE_UART_A                         = 4,
+    GPIO_MODE_UART_B                         = 5,
+    GPIO_MODE_UART_C                         = 6,
+    GPIO_MODE_CAN_A                          = 7,
+    GPIO_MODE_I2C_A                          = 8,
+    GPIO_MODE_SPI_A                          = 9,
+    GPIO_MODE_PWM                            = 10,
+    GPIO_MODE_ENC0                           = 11,
+    GPIO_MODE_ENC1                           = 12,
+    GPIO_MODE_ENC2                           = 13,
+    GPIO_MODE_MECH_BRAKE                     = 14,
+    GPIO_MODE_STATUS                         = 15,
+};
+
+// ODrive.StreamProtocolType
+enum StreamProtocolType {
+    STREAM_PROTOCOL_TYPE_FIBRE               = 0,
+    STREAM_PROTOCOL_TYPE_ASCII               = 1,
+    STREAM_PROTOCOL_TYPE_STDOUT              = 2,
+    STREAM_PROTOCOL_TYPE_ASCII_AND_STDOUT    = 3,
+};
+
+// ODrive.Can.Protocol
+enum Protocol {
+    PROTOCOL_SIMPLE                          = 0x00000001,
+};
+
+// ODrive.Axis.AxisState
+enum AxisState {
+    AXIS_STATE_UNDEFINED                     = 0,
+    AXIS_STATE_IDLE                          = 1,
+    AXIS_STATE_STARTUP_SEQUENCE              = 2,
+    AXIS_STATE_FULL_CALIBRATION_SEQUENCE     = 3,
+    AXIS_STATE_MOTOR_CALIBRATION             = 4,
+    AXIS_STATE_ENCODER_INDEX_SEARCH          = 6,
+    AXIS_STATE_ENCODER_OFFSET_CALIBRATION    = 7,
+    AXIS_STATE_CLOSED_LOOP_CONTROL           = 8,
+    AXIS_STATE_LOCKIN_SPIN                   = 9,
+    AXIS_STATE_ENCODER_DIR_FIND              = 10,
+    AXIS_STATE_HOMING                        = 11,
+    AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION = 12,
+    AXIS_STATE_ENCODER_HALL_PHASE_CALIBRATION = 13,
+};
+
+// ODrive.Encoder.Mode
+enum EncoderMode {
+    ENCODER_MODE_INCREMENTAL                 = 0,
+    ENCODER_MODE_HALL                        = 1,
+    ENCODER_MODE_SINCOS                      = 2,
+    ENCODER_MODE_SPI_ABS_CUI                 = 256,
+    ENCODER_MODE_SPI_ABS_AMS                 = 257,
+    ENCODER_MODE_SPI_ABS_AEAT                = 258,
+    ENCODER_MODE_SPI_ABS_RLS                 = 259,
+    ENCODER_MODE_SPI_ABS_MA732               = 260,
+};
+
+// ODrive.Controller.ControlMode
+enum ControlMode {
+    CONTROL_MODE_VOLTAGE_CONTROL             = 0,
+    CONTROL_MODE_TORQUE_CONTROL              = 1,
+    CONTROL_MODE_VELOCITY_CONTROL            = 2,
+    CONTROL_MODE_POSITION_CONTROL            = 3,
+};
+
+// ODrive.Controller.InputMode
+enum InputMode {
+    INPUT_MODE_INACTIVE                      = 0,
+    INPUT_MODE_PASSTHROUGH                   = 1,
+    INPUT_MODE_VEL_RAMP                      = 2,
+    INPUT_MODE_POS_FILTER                    = 3,
+    INPUT_MODE_MIX_CHANNELS                  = 4,
+    INPUT_MODE_TRAP_TRAJ                     = 5,
+    INPUT_MODE_TORQUE_RAMP                   = 6,
+    INPUT_MODE_MIRROR                        = 7,
+    INPUT_MODE_TUNING                        = 8,
+};
+
+// ODrive.Motor.MotorType
+enum MotorType {
+    MOTOR_TYPE_HIGH_CURRENT                  = 0,
+    MOTOR_TYPE_GIMBAL                        = 2,
+    MOTOR_TYPE_ACIM                          = 3,
+};
+
+// ODrive.Error
+enum ODriveError {
+    ODRIVE_ERROR_NONE                        = 0x00000000,
+    ODRIVE_ERROR_CONTROL_ITERATION_MISSED    = 0x00000001,
+    ODRIVE_ERROR_DC_BUS_UNDER_VOLTAGE        = 0x00000002,
+    ODRIVE_ERROR_DC_BUS_OVER_VOLTAGE         = 0x00000004,
+    ODRIVE_ERROR_DC_BUS_OVER_REGEN_CURRENT   = 0x00000008,
+    ODRIVE_ERROR_DC_BUS_OVER_CURRENT         = 0x00000010,
+    ODRIVE_ERROR_BRAKE_DEADTIME_VIOLATION    = 0x00000020,
+    ODRIVE_ERROR_BRAKE_DUTY_CYCLE_NAN        = 0x00000040,
+    ODRIVE_ERROR_INVALID_BRAKE_RESISTANCE    = 0x00000080,
+};
+
+// ODrive.Can.Error
+enum CanError {
+    CAN_ERROR_NONE                           = 0x00000000,
+    CAN_ERROR_DUPLICATE_CAN_IDS              = 0x00000001,
+};
+
+// ODrive.Axis.Error
+enum AxisError {
+    AXIS_ERROR_NONE                          = 0x00000000,
+    AXIS_ERROR_INVALID_STATE                 = 0x00000001,
+    AXIS_ERROR_WATCHDOG_TIMER_EXPIRED        = 0x00000800,
+    AXIS_ERROR_MIN_ENDSTOP_PRESSED           = 0x00001000,
+    AXIS_ERROR_MAX_ENDSTOP_PRESSED           = 0x00002000,
+    AXIS_ERROR_ESTOP_REQUESTED               = 0x00004000,
+    AXIS_ERROR_HOMING_WITHOUT_ENDSTOP        = 0x00020000,
+    AXIS_ERROR_OVER_TEMP                     = 0x00040000,
+    AXIS_ERROR_UNKNOWN_POSITION              = 0x00080000,
+};
+
+// ODrive.Motor.Error
+enum MotorError {
+    MOTOR_ERROR_NONE                         = 0x00000000,
+    MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE = 0x00000001,
+    MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE = 0x00000002,
+    MOTOR_ERROR_DRV_FAULT                    = 0x00000008,
+    MOTOR_ERROR_CONTROL_DEADLINE_MISSED      = 0x00000010,
+    MOTOR_ERROR_MODULATION_MAGNITUDE         = 0x00000080,
+    MOTOR_ERROR_CURRENT_SENSE_SATURATION     = 0x00000400,
+    MOTOR_ERROR_CURRENT_LIMIT_VIOLATION      = 0x00001000,
+    MOTOR_ERROR_MODULATION_IS_NAN            = 0x00010000,
+    MOTOR_ERROR_MOTOR_THERMISTOR_OVER_TEMP   = 0x00020000,
+    MOTOR_ERROR_FET_THERMISTOR_OVER_TEMP     = 0x00040000,
+    MOTOR_ERROR_TIMER_UPDATE_MISSED          = 0x00080000,
+    MOTOR_ERROR_CURRENT_MEASUREMENT_UNAVAILABLE = 0x00100000,
+    MOTOR_ERROR_CONTROLLER_FAILED            = 0x00200000,
+    MOTOR_ERROR_I_BUS_OUT_OF_RANGE           = 0x00400000,
+    MOTOR_ERROR_BRAKE_RESISTOR_DISARMED      = 0x00800000,
+    MOTOR_ERROR_SYSTEM_LEVEL                 = 0x01000000,
+    MOTOR_ERROR_BAD_TIMING                   = 0x02000000,
+    MOTOR_ERROR_UNKNOWN_PHASE_ESTIMATE       = 0x04000000,
+    MOTOR_ERROR_UNKNOWN_PHASE_VEL            = 0x08000000,
+    MOTOR_ERROR_UNKNOWN_TORQUE               = 0x10000000,
+    MOTOR_ERROR_UNKNOWN_CURRENT_COMMAND      = 0x20000000,
+    MOTOR_ERROR_UNKNOWN_CURRENT_MEASUREMENT  = 0x40000000,
+    MOTOR_ERROR_UNKNOWN_VBUS_VOLTAGE         = 0x80000000,
+    MOTOR_ERROR_UNKNOWN_VOLTAGE_COMMAND      = 0x100000000,
+    MOTOR_ERROR_UNKNOWN_GAINS                = 0x200000000,
+    MOTOR_ERROR_CONTROLLER_INITIALIZING      = 0x400000000,
+    MOTOR_ERROR_UNBALANCED_PHASES            = 0x800000000,
+};
+
+// ODrive.Controller.Error
+enum ControllerError {
+    CONTROLLER_ERROR_NONE                    = 0x00000000,
+    CONTROLLER_ERROR_OVERSPEED               = 0x00000001,
+    CONTROLLER_ERROR_INVALID_INPUT_MODE      = 0x00000002,
+    CONTROLLER_ERROR_UNSTABLE_GAIN           = 0x00000004,
+    CONTROLLER_ERROR_INVALID_MIRROR_AXIS     = 0x00000008,
+    CONTROLLER_ERROR_INVALID_LOAD_ENCODER    = 0x00000010,
+    CONTROLLER_ERROR_INVALID_ESTIMATE        = 0x00000020,
+    CONTROLLER_ERROR_INVALID_CIRCULAR_RANGE  = 0x00000040,
+    CONTROLLER_ERROR_SPINOUT_DETECTED        = 0x00000080,
+};
+
+// ODrive.Encoder.Error
+enum EncoderError {
+    ENCODER_ERROR_NONE                       = 0x00000000,
+    ENCODER_ERROR_UNSTABLE_GAIN              = 0x00000001,
+    ENCODER_ERROR_CPR_POLEPAIRS_MISMATCH     = 0x00000002,
+    ENCODER_ERROR_NO_RESPONSE                = 0x00000004,
+    ENCODER_ERROR_UNSUPPORTED_ENCODER_MODE   = 0x00000008,
+    ENCODER_ERROR_ILLEGAL_HALL_STATE         = 0x00000010,
+    ENCODER_ERROR_INDEX_NOT_FOUND_YET        = 0x00000020,
+    ENCODER_ERROR_ABS_SPI_TIMEOUT            = 0x00000040,
+    ENCODER_ERROR_ABS_SPI_COM_FAIL           = 0x00000080,
+    ENCODER_ERROR_ABS_SPI_NOT_READY          = 0x00000100,
+    ENCODER_ERROR_HALL_NOT_CALIBRATED_YET    = 0x00000200,
+};
+
+// ODrive.SensorlessEstimator.Error
+enum SensorlessEstimatorError {
+    SENSORLESS_ESTIMATOR_ERROR_NONE          = 0x00000000,
+    SENSORLESS_ESTIMATOR_ERROR_UNSTABLE_GAIN = 0x00000001,
+    SENSORLESS_ESTIMATOR_ERROR_UNKNOWN_CURRENT_MEASUREMENT = 0x00000002,
+};
+
+#endif
diff --git a/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino b/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
index e75a1862..190d0c12 100644
--- a/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
+++ b/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
@@ -75,15 +75,15 @@ void loop() {
       int motornum = c-'0';
       int requested_state;
 
-      requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION;
+      requested_state = AXIS_STATE_MOTOR_CALIBRATION;
       Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
       if(!odrive.run_state(motornum, requested_state, true)) return;
 
-      requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
+      requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
       Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
       if(!odrive.run_state(motornum, requested_state, true, 25.0f)) return;
 
-      requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL;
+      requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL;
       Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
       if(!odrive.run_state(motornum, requested_state, false /*don't wait*/)) return;
     }
@@ -112,8 +112,7 @@ void loop() {
       unsigned long start = millis();
       while(millis() - start < duration) {
         for (int motor = 0; motor < 2; ++motor) {
-          odrive_serial << "r axis" << motor << ".encoder.pos_estimate\n";
-          Serial << odrive.readFloat() << '\t';
+          Serial << odrive.GetPosition(motor) << '\t';
         }
         Serial << '\n';
       }
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 764fc32b..9e881a51 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -43,6 +43,8 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * Added torque mirroring to INPUT_MODE_MIRROR
 * `mechanical_power_bandwidth`, `electrical_power_bandwidth`, `spinout_electrical_power_threshold`, `spinout_mechanical_power_threshold` added to `controller.config` for spinout detection.
 * `mechanical_power` and `electrical_power` added to `controller`.
+* Added autogenerated enums header file [ODriveEnums.h](../Arduino/ODriveArduino/ODriveEnums.h) for Arduino use. Created Jinja template and edited Makefile to autogenerate it. Reflected change in Dockerfile and added note in developer-guide markdown file for updating ODriveEnums.h alongside enums.py.
+* Added GetPosition member function in ODriveArduino class to complement existing GetVelocity, SetVelocity, and SetPosition functions.
 
 ### Changed
 * Step/dir performance improved! Dual axis step rates up to 250kHz have been tested
@@ -71,6 +73,8 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * Added `torque_mirror_ratio` and use it to feed-forward `controller_.torque_output` in `INPUT_MODE_MIRROR`
 * Accumulate integer steps in step/dir to avoid float precision errors
 * Circular setpoint mode must be enabled when the step/dir interface is used.
+* Replaced inline enum in ODriveArduino class by including new autogenerated ODriveEnums.h header file.
+* Changed the example ODriveArduinoTest.ino file to reflect the new GetPosition member function. Also removed the scope resolution operator to access the enums as it can now be accessed from the global namespace.
 
 ### API Migration Notes
 * `axis.config.turns_per_step` changed to `axis.controller.config.steps_per_circular_range`
diff --git a/Dockerfile b/Dockerfile
index 8810dc23..06bdadf1 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -22,6 +22,10 @@ CMD \
 	--definitions odrive-interface.yaml \
 	--template ../tools/enums_template.j2 \
 	--output ../tools/odrive/enums.py && \
+	python interface_generator_stub.py \
+	--definitions odrive-interface.yaml \
+	--template ../tools/arduino_enums_template.j2 \
+	--output ../Arduino/ODriveArduino/ODriveEnums.h && \
 	# Hack around Tup's dependency on FUSE
 	tup init && \
 	tup generate build.sh && \
diff --git a/Firmware/Makefile b/Firmware/Makefile
index 3191c4a2..0f09b14c 100644
--- a/Firmware/Makefile
+++ b/Firmware/Makefile
@@ -32,6 +32,7 @@ all:
 	@$(PY_CMD) ../tools/odrive/version.py --output autogen/version.c
 	@tup --quiet -no-environ-check
 	@$(PY_CMD) interface_generator_stub.py --definitions odrive-interface.yaml --template ../tools/enums_template.j2 --output ../tools/odrive/enums.py
+	@$(PY_CMD) interface_generator_stub.py --definitions odrive-interface.yaml --template ../tools/arduino_enums_template.j2 --output ../Arduino/ODriveArduino/ODriveEnums.h
 
 # Copy libfibre files to odrivetool if they were built
 	@ ! test -f "fibre-cpp/build/libfibre-linux-amd64.so" || cp fibre-cpp/build/libfibre-linux-amd64.so ../tools/odrive/pyfibre/fibre/
diff --git a/docs/developer-guide.md b/docs/developer-guide.md
index 0dd611f1..e3060236 100644
--- a/docs/developer-guide.md
+++ b/docs/developer-guide.md
@@ -332,4 +332,4 @@ When filing a PR please go through this checklist:
  - Also, for each removed/moved/renamed API item use your IDE's search feature to search for occurrences of this name. Update the places you found (this will usually be documentation and test scripts).
  - If you added things to `odrive-interface.yaml` make sure the new things have decent documentation in the YAML file. We don't expect 100% coverage but use good sense of what to document.
  - Make sure your PR doesn't contain spurious changes that unnecessarily add or remove whitespace. These add noise and make the reviewer's lifes harder.
- - If you changed any enums in `odrive-interface.yaml`, make sure you update [enums.py](../tools/odrive/enums.py). The file includes instructions on how to do this. Check the diff to verify that none of the existing enumerators changed their value.
+ - If you changed any enums in `odrive-interface.yaml`, make sure you update [enums.py](../tools/odrive/enums.py) and [ODriveEnums.h](../Arduino/ODriveArduino/ODriveEnums.h). The file includes instructions on how to do this. Check the diff to verify that none of the existing enumerators changed their value.
diff --git a/tools/arduino_enums_template.j2 b/tools/arduino_enums_template.j2
new file mode 100644
index 00000000..94418fa9
--- /dev/null
+++ b/tools/arduino_enums_template.j2
@@ -0,0 +1,23 @@
+
+#ifndef ODriveEnums_h
+#define ODriveEnums_h
+
+/* TODO: This file is dangerous because the enums could potentially change between API versions. Should transmit as part of the JSON.
+** To regenerate this file, nagivate to the top level of the ODrive repository and run:
+** python Firmware/interface_generator_stub.py --definitions Firmware/odrive-interface.yaml --template tools/arduino_enums_template.j2 --output Arduino/ODriveArduino/ODriveEnums.h
+*/
+
+[%- for _, enum in value_types.items() %]
+[%- if enum.is_enum %]
+
+// [[enum.fullname]]
+enum [[(enum.parent.name if enum.name in ['Error', 'Mode'] else '') + enum.name ]] {
+    [%- for k, value in enum['values'].items() %]
+    [[((((enum.parent.name if enum.name in ['Error', 'Mode'] else '') + enum.name) | to_macro_case) + "_" + (k | to_macro_case)).ljust(40)]] = [% if enum.is_flags %]0x[['%08x' | format(value.value)]][% else %][[value.value]][% endif %],
+    [%- endfor %]
+};
+[%- endif %]
+[%- endfor %]
+
+#endif
+