diff --git a/src/main/cpp/cowlib/SwerveModule.cpp b/src/main/cpp/cowlib/SwerveModule.cpp
index c06b39d..5171130 100644
--- a/src/main/cpp/cowlib/SwerveModule.cpp
+++ b/src/main/cpp/cowlib/SwerveModule.cpp
@@ -8,6 +8,7 @@
 #include "frc/kinematics/SwerveModuleState.h"
 #include "rev/CANSparkMax.h"
 #include "units/angle.h"
+#include "units/base.h"
 #include "units/voltage.h"
 
 #include "cowlib/SwerveModule.h"
@@ -29,6 +30,15 @@ SwerveModule::SwerveModule(int driveMotorId, int steerMotorId, int encoderId,
 
   this->driveMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
   this->steerMotor.SetSmartCurrentLimit(SwerveConstants::currentLimit);
+
+  auto speedEncoder = this->driveMotor.GetEncoder();
+  double driveReduction = 1.0 / 6.75;
+  double wheelDiameter = 0.1016;
+  double rotationsToDistance =
+      driveReduction * wheelDiameter * units::constants::detail::PI_VAL;
+
+  speedEncoder.SetPositionConversionFactor(rotationsToDistance);
+  speedEncoder.SetVelocityConversionFactor(rotationsToDistance / 60);
 }
 
 void SwerveModule::drive(double speedMetersPerSecond, double angle) {