diff --git a/Arduino/ODriveArduino/ODriveArduino.h b/Arduino/ODriveArduino/ODriveArduino.h
index 0824110a..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
diff --git a/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino b/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
index 186c81d6..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;
     }