diff --git a/y2022/constants.h b/y2022/constants.h
index 050c5c7..92f3a48 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -30,6 +30,15 @@
            constants::Values::kDrivetrainEncoderRatio() *
            kDrivetrainEncoderCountsPerRevolution();
   }
+
+  static double DrivetrainEncoderToMeters(int32_t in) {
+    return ((static_cast<double>(in) /
+             kDrivetrainEncoderCountsPerRevolution()) *
+            (2.0 * M_PI)) *
+           kDrivetrainEncoderRatio() *
+           control_loops::drivetrain::kWheelRadius;
+  }
+
   static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
   static constexpr double kRollerStatorCurrentLimit() { return 40.0; }
 
diff --git a/y2022/localizer/imu.cc b/y2022/localizer/imu.cc
index dbdc1a1..db7ec8f 100644
--- a/y2022/localizer/imu.cc
+++ b/y2022/localizer/imu.cc
@@ -2,6 +2,7 @@
 
 #include "aos/util/crc32.h"
 #include "glog/logging.h"
+#include "y2022/constants.h"
 
 namespace y2022::localizer {
 
@@ -120,8 +121,10 @@
 
     // extra data from the pico
     imu_builder.add_pico_timestamp_us(pico_timestamp);
-    imu_builder.add_left_encoder(encoder1_count);
-    imu_builder.add_right_encoder(encoder2_count);
+    imu_builder.add_left_encoder(
+        constants::Values::DrivetrainEncoderToMeters(encoder1_count));
+    imu_builder.add_right_encoder(
+        constants::Values::DrivetrainEncoderToMeters(encoder2_count));
     imu_builder.add_previous_reading_diag_stat(diag_stat_offset);
   }
 
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 0ee1e92..673fa80 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -68,14 +68,6 @@
 // DMA stuff and then removing the * 2.0 in *_translate.
 // The low bit is direction.
 
-double drivetrain_translate(int32_t in) {
-  return ((static_cast<double>(in) /
-           Values::kDrivetrainEncoderCountsPerRevolution()) *
-          (2.0 * M_PI)) *
-         Values::kDrivetrainEncoderRatio() *
-         control_loops::drivetrain::kWheelRadius;
-}
-
 double drivetrain_velocity_translate(double in) {
   return (((1.0 / in) / Values::kDrivetrainCyclesPerRevolution()) *
           (2.0 * M_PI)) *
@@ -127,12 +119,14 @@
       frc971::control_loops::drivetrain::Position::Builder drivetrain_builder =
           builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
       drivetrain_builder.add_left_encoder(
-          drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+          constants::Values::DrivetrainEncoderToMeters(
+              drivetrain_left_encoder_->GetRaw()));
       drivetrain_builder.add_left_speed(
           drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
 
       drivetrain_builder.add_right_encoder(
-          -drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+          -constants::Values::DrivetrainEncoderToMeters(
+              drivetrain_right_encoder_->GetRaw()));
       drivetrain_builder.add_right_speed(-drivetrain_velocity_translate(
           drivetrain_right_encoder_->GetPeriod()));