diff --git a/Peripherals/Inc/peripherals_encoder.hpp b/Peripherals/Inc/peripherals_encoder.hpp
index 21c200c..b4d52dc 100644
--- a/Peripherals/Inc/peripherals_encoder.hpp
+++ b/Peripherals/Inc/peripherals_encoder.hpp
@@ -8,6 +8,7 @@
 #ifndef SKULLC_PERIPHERALS_ENCODER_HPP_
 #define SKULLC_PERIPHERALS_ENCODER_HPP_
 
+#include <atomic>
 #include <cstdint>
 
 #include <tim.h>
@@ -87,7 +88,7 @@ private:
   TIM_HandleTypeDef* htim_;
   std::uint32_t channels_;
 
-  std::int32_t full_revolutions_ = 0;
+  std::atomic<std::int32_t> full_revolutions_ = 0;
 };
 
 }// namespace Peripherals