diff --git a/msg/WheelEncoders.msg b/msg/WheelEncoders.msg
index 1654902cdf..dfeeeca432 100644
--- a/msg/WheelEncoders.msg
+++ b/msg/WheelEncoders.msg
@@ -1,5 +1,5 @@
 uint64 timestamp			# time since system start (microseconds)
 
-int64 encoder_position   # The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation
-int32 speed              # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
-uint32 pulses_per_rev    # Number of pulses per revolution for each wheel
+float32[4] wheel_angle #Wheel angle of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
+float32[4] wheel_speed #Wheel speed of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
+