diff --git a/Peripherals/Inc/peripherals_encoder.hpp b/Peripherals/Inc/peripherals_encoder.hpp
new file mode 100644
index 0000000..162aaa6
--- /dev/null
+++ b/Peripherals/Inc/peripherals_encoder.hpp
@@ -0,0 +1,111 @@
+/*
+ * peripherals_encoder.hpp
+ *
+ *  Created on: Apr 11, 2021
+ *      Author: erki
+ */
+
+#ifndef PERIPHERALS_ENCODER_HPP_
+#define PERIPHERALS_ENCODER_HPP_
+
+#include <cstdint>
+
+#include <tim.h>
+
+namespace Peripherals
+{
+
+class Encoder
+{
+public:
+  enum class Dirs : std::uint8_t
+  {
+    FORWARD,
+    BACKWARD
+  };
+
+  Encoder() = delete;
+  explicit Encoder(TIM_HandleTypeDef* htim, const std::uint32_t channels)
+      : _htim(htim), _channels(channels)
+  {}
+
+  Encoder(const Encoder&) = delete;
+  Encoder(Encoder&&) = delete;
+  Encoder& operator=(const Encoder&) = delete;
+  Encoder& operator=(Encoder&&) = delete;
+
+  void start()
+  {
+    HAL_TIM_Encoder_Start_IT(_htim, _channels);
+  }
+
+  void stop()
+  {
+    HAL_TIM_Encoder_Stop_IT(_htim, _channels);
+  }
+
+  void reset()
+  {
+    __HAL_TIM_SET_COUNTER(_htim, 0);
+    _full_revolutions = 0;
+  }
+
+  void setRevolutionTickCount(const std::uint16_t& count)
+  {
+    __HAL_TIM_SET_COMPARE(_htim, _channels, count);
+  }
+
+  std::uint16_t getCurrentClicks() const
+  {
+    const std::uint16_t val = __HAL_TIM_GET_COUNTER(_htim);
+    return val >> 1;
+  }
+
+  std::int32_t getFullRevolutions() const
+  {
+    return _full_revolutions;
+  }
+
+  Dirs getDireection() const
+  {
+    return _direction;
+  }
+
+  // Should be called somewhat regularly.
+  void update()
+  {
+    const std::uint16_t current = __HAL_TIM_GET_COUNTER(_htim);
+    if (current > _last_read)
+      _direction = Dirs::FORWARD;
+    else
+      _direction = Dirs::BACKWARD;
+
+    _last_read = current;
+  }
+
+  void timerUpdateEvent()
+  {
+    if (_direction == Dirs::FORWARD)
+    {
+      _full_revolutions++;
+    } else
+    {
+      _full_revolutions--;
+    }
+
+    _last_read = 0;
+  }
+
+private:
+  TIM_HandleTypeDef* _htim;
+  std::uint32_t _channels;
+
+  Dirs _direction = Dirs::FORWARD;
+  std::int32_t _full_revolutions = 0;
+  std::uint16_t _last_read = 0;
+};
+
+}// namespace Peripherals
+
+
+#endif /* PERIPHERALS_ENCODER_HPP_ */