diff --git a/encoders/ENCODERS.md b/encoders/ENCODERS.md
index 097bb0e..28f9555 100644
--- a/encoders/ENCODERS.md
+++ b/encoders/ENCODERS.md
@@ -38,25 +38,25 @@ read the following notes as there are potential issues.
 from machine import Pin
 
 class Encoder:
-    def __init__(self, pin_x, pin_y, scale=1):
+    def __init__(self, pin_a, pin_b, scale=1):
         self.scale = scale
         self.forward = True
-        self.pin_x = pin_x
-        self.pin_y = pin_y
+        self.pin_a = pin_a
+        self.pin_b = pin_b
         self._pos = 0
         try:
-            self.x_interrupt = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.x_callback, hard=True)
-            self.y_interrupt = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.y_callback, hard=True)
+            self.a_interrupt = pin_a.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.a_callback, hard=True)
+            self.b_interrupt = pin_b.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.b_callback, hard=True)
         except TypeError:
-            self.x_interrupt = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.x_callback)
-            self.y_interrupt = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.y_callback)
+            self.a_interrupt = pin_a.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.a_callback)
+            self.b_interrupt = pin_b.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.b_callback)
 
     def x_callback(self, pin):
-        self.forward = pin() ^ self.pin_y()
+        self.forward = pin() ^ self.pin_b()
         self._pos += 1 if self.forward else -1
 
     def y_callback(self, pin):
-        self.forward = self.pin_x() ^ pin() ^ 1
+        self.forward = self.pin_a() ^ pin() ^ 1
         self._pos += 1 if self.forward else -1
 
     def position(self, value=None):
diff --git a/encoders/encoder.py b/encoders/encoder.py
index 9f8da70..52bccfa 100644
--- a/encoders/encoder.py
+++ b/encoders/encoder.py
@@ -6,22 +6,22 @@
 import pyb
 
 class Encoder:
-    def __init__(self, pin_x, pin_y, reverse, scale):
+    def __init__(self, pin_a, pin_b, reverse, scale):
         self.reverse = reverse
         self.scale = scale
         self.forward = True
-        self.pin_x = pin_x
-        self.pin_y = pin_y
+        self.pin_a = pin_a
+        self.pin_b = pin_b
         self._pos = 0
-        self.x_interrupt = pyb.ExtInt(pin_x, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.x_callback)
-        self.y_interrupt = pyb.ExtInt(pin_y, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.y_callback)
+        self.a_interrupt = pyb.ExtInt(pin_a, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.a_callback)
+        self.b_interrupt = pyb.ExtInt(pin_b, pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_NONE, self.b_callback)
 
     def x_callback(self, line):
-        self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse
+        self.forward = self.pin_a.value() ^ self.pin_b.value() ^ self.reverse
         self._pos += 1 if self.forward else -1
 
     def y_callback(self, line):
-        self.forward = self.pin_x.value() ^ self.pin_y.value() ^ self.reverse ^ 1
+        self.forward = self.pin_a.value() ^ self.pin_b.value() ^ self.reverse ^ 1
         self._pos += 1 if self.forward else -1
 
     def position(self):
diff --git a/encoders/encoder_portable.py b/encoders/encoder_portable.py
index 525ca42..e7526fe 100644
--- a/encoders/encoder_portable.py
+++ b/encoders/encoder_portable.py
@@ -9,25 +9,25 @@
 from machine import Pin
 
 class Encoder:
-    def __init__(self, pin_x, pin_y, scale=1):
+    def __init__(self, pin_a, pin_b, scale=1):
         self.scale = scale
         self.forward = True
-        self.pin_x = pin_x
-        self.pin_y = pin_y
+        self.pin_a = pin_a
+        self.pin_b = pin_b
         self._pos = 0
         try:
-            self.x_interrupt = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.x_callback, hard=True)
-            self.y_interrupt = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.y_callback, hard=True)
+            self.a_interrupt = pin_a.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.a_callback, hard=True)
+            self.b_interrupt = pin_b.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.b_callback, hard=True)
         except TypeError:
-            self.x_interrupt = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.x_callback)
-            self.y_interrupt = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.y_callback)
+            self.a_interrupt = pin_a.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.a_callback)
+            self.b_interrupt = pin_b.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.b_callback)
 
     def x_callback(self, pin):
-        self.forward = pin() ^ self.pin_y()
+        self.forward = pin() ^ self.pin_b()
         self._pos += 1 if self.forward else -1
 
     def y_callback(self, pin):
-        self.forward = self.pin_x() ^ pin() ^ 1
+        self.forward = self.pin_a() ^ pin() ^ 1
         self._pos += 1 if self.forward else -1
 
     def position(self, value=None):
diff --git a/encoders/encoder_timed.py b/encoders/encoder_timed.py
index 8095ae3..89018c6 100644
--- a/encoders/encoder_timed.py
+++ b/encoders/encoder_timed.py
@@ -7,29 +7,29 @@ import utime
 from machine import Pin, disable_irq, enable_irq
 
 class EncoderTimed:
-    def __init__(self, pin_x, pin_y, scale=1):
+    def __init__(self, pin_a, pin_b, scale=1):
         self.scale = scale  # Optionally scale encoder rate to distance/angle
         self.tprev = 0
         self.tlast = 0
         self.forward = True
-        self.pin_x = pin_x
-        self.pin_y = pin_y
+        self.pin_a = pin_a
+        self.pin_b = pin_b
         self._pos = 0
         try:
-            self.x_interrupt = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.x_callback, hard=True)
-            self.y_interrupt = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.y_callback, hard=True)
+            self.a_interrupt = pin_a.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.a_callback, hard=True)
+            self.b_interrupt = pin_b.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.b_callback, hard=True)
         except TypeError:
-            self.x_interrupt = pin_x.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.x_callback)
-            self.y_interrupt = pin_y.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.y_callback)
+            self.a_interrupt = pin_a.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.a_callback)
+            self.b_interrupt = pin_b.irq(trigger=Pin.IRQ_RISING | Pin.IRQ_FALLING, handler=self.b_callback)
 
     def x_callback(self, line):
-        self.forward = self.pin_x.value() ^ self.pin_y.value()
+        self.forward = self.pin_a.value() ^ self.pin_b.value()
         self._pos += 1 if self.forward else -1
         self.tprev = self.tlast
         self.tlast = utime.ticks_us()
 
     def y_callback(self, line):
-        self.forward = self.pin_x.value() ^ self.pin_y.value() ^ 1
+        self.forward = self.pin_a.value() ^ self.pin_b.value() ^ 1
         self._pos += 1 if self.forward else -1
         self.tprev = self.tlast
         self.tlast = utime.ticks_us()