diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c
index 6b6235da..42b99bca 100644
--- a/Firmware/MotorControl/low_level.c
+++ b/Firmware/MotorControl/low_level.c
@@ -1380,9 +1380,9 @@ void motor_thread(void const * argument) {
     motor->thread_ready = false;
 }
 
-
-void setEncoderCount(Motor_t* motor, uint16_t count){
+/** Function that sets the current encoder count to a desired 32-bit value. */
+void setEncoderCount(Motor_t* motor, uint32_t count){
     motor->encoder.encoder_state = count;
     motor->motor_timer->Instance->CNT = count;
-    motor->encoder.pll_pos = count;
+    motor->encoder.pll_pos = (float)count;
 }
\ No newline at end of file
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index 281465d1..6512a719 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -172,7 +172,7 @@ void step_cb(uint16_t GPIO_Pin);
 void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
 void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected);
 
-void setEncoderCount(Motor_t* motor, uint16_t count);
+void setEncoderCount(Motor_t* motor, uint32_t count);
 
 bool anti_cogging_calibration(Motor_t* motor);