diff --git a/diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h b/diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h
index 85cdbc4b..4db53fec 100644
--- a/diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h
+++ b/diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h
@@ -14,7 +14,7 @@
 #include <sensor_msgs/JointState.h>
 
 #include "diffbot_base_config.h"
-#include "encoder.h"
+#include "encoder_diffbot.h"
 #include "adafruit_feather_wing/adafruit_feather_wing.h"
 #include "pid.h"
 
diff --git a/diffbot_base/scripts/base_controller/lib/encoder/encoder.cpp b/diffbot_base/scripts/base_controller/lib/encoder/encoder_diffbot.cpp
similarity index 98%
rename from diffbot_base/scripts/base_controller/lib/encoder/encoder.cpp
rename to diffbot_base/scripts/base_controller/lib/encoder/encoder_diffbot.cpp
index 14eaf4e1..ecaf4d0d 100644
--- a/diffbot_base/scripts/base_controller/lib/encoder/encoder.cpp
+++ b/diffbot_base/scripts/base_controller/lib/encoder/encoder_diffbot.cpp
@@ -1,4 +1,4 @@
-#include "encoder.h"
+#include "encoder_diffbot.h"
 
 
 diffbot::Encoder::Encoder(ros::NodeHandle& nh, uint8_t pin1, uint8_t pin2, int encoder_resolution)
diff --git a/diffbot_base/scripts/base_controller/lib/encoder/encoder.h b/diffbot_base/scripts/base_controller/lib/encoder/encoder_diffbot.h
similarity index 100%
rename from diffbot_base/scripts/base_controller/lib/encoder/encoder.h
rename to diffbot_base/scripts/base_controller/lib/encoder/encoder_diffbot.h