diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 0d6388c862..a020ad34e0 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -136,7 +136,7 @@ public:
 			pin_output_mode_e *pinEnableMode,
 			brain_pin_e pinDir1,
 			brain_pin_e pinDir2) {
-		dcMotor.SetType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
+		dcMotor.setType(useTwoWires ? TwoPinDcMotor::ControlType::PwmDirectionPins : TwoPinDcMotor::ControlType::PwmEnablePin);
 
 		m_pinEnable.initPin("ETB Enable", pinEnable, pinEnableMode);
 		m_pinDir1.initPin("ETB Dir 1", pinDir1);
@@ -211,7 +211,7 @@ static percent_t currentEtbDuty;
 		}
 
 		if (startupPositionError) {
-			etb->dcMotor.Set(0);
+			etb->dcMotor.set(0);
 			return;
 		}
 
@@ -221,12 +221,12 @@ static percent_t currentEtbDuty;
 		}
 
 		if (!cisnan(directPwmValue)) {
-			etb->dcMotor.Set(directPwmValue);
+			etb->dcMotor.set(directPwmValue);
 			return;
 		}
 
 		if (boardConfiguration->pauseEtbControl) {
-			etb->dcMotor.Set(0);
+			etb->dcMotor.set(0);
 			return;
 		}
 
@@ -243,7 +243,7 @@ static percent_t currentEtbDuty;
 					autoTune.output,
 					value);
 			scheduleMsg(&logger, "AT PID=%f", value);
-			etb->dcMotor.Set(ETB_PERCENT_TO_DUTY(value));
+			etb->dcMotor.set(ETB_PERCENT_TO_DUTY(value));
 
 			if (result) {
 				scheduleMsg(&logger, "GREAT NEWS! %f/%f/%f", autoTune.GetKp(), autoTune.GetKi(), autoTune.GetKd());
@@ -275,7 +275,7 @@ static percent_t currentEtbDuty;
 		currentEtbDuty = engine->engineState.etbFeedForward +
 				etbPid.getOutput(targetPosition, actualThrottlePosition);
 
-		etb->dcMotor.Set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
+		etb->dcMotor.set(ETB_PERCENT_TO_DUTY(currentEtbDuty));
 
 		if (engineConfiguration->isVerboseETB) {
 			etbPid.showPidStatus(&logger, "ETB");
@@ -348,7 +348,7 @@ void setThrottleDutyCycle(percent_t level) {
 	float dc = ETB_PERCENT_TO_DUTY(level);
 	directPwmValue = dc;
 	for (int i = 0 ; i < ETB_COUNT; i++) {
-		etbControls[i].dcMotor.Set(dc);
+		etbControls[i].dcMotor.set(dc);
 	}
 	scheduleMsg(&logger, "duty ETB duty=%f", dc);
 }
@@ -379,7 +379,7 @@ static void showEthInfo(void) {
 	for (int i = 0 ; i < ETB_COUNT; i++) {
 		EtbControl *etb = &etbControls[i];
 
-		scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.Get());
+		scheduleMsg(&logger, "%d: dir=%d DC=%f", i, etb->dcMotor.isOpenDirection(), etb->dcMotor.get());
 	}
 
 	etbPid.showPidStatus(&logger, "ETB");
@@ -400,7 +400,7 @@ static void etbReset() {
 	scheduleMsg(&logger, "etbReset");
 	
 	for (int i = 0 ; i < ETB_COUNT; i++) {
-		etbControls[i].dcMotor.Set(0);
+		etbControls[i].dcMotor.set(0);
 	}
 	etbPid.reset();
 
@@ -648,11 +648,11 @@ void initElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 		for (int i = 0 ; i < ETB_COUNT; i++) {
 			EtbControl *etb = &etbControls[i];
 
-			etb->dcMotor.Set(70);
+			etb->dcMotor.set(70);
 			chThdSleep(600);
 			// todo: grab with proper index
 			grabTPSIsWideOpen();
-			etb->dcMotor.Set(-70);
+			etb->dcMotor.set(-70);
 			chThdSleep(600);
 			// todo: grab with proper index
 			grabTPSIsClosed();
diff --git a/firmware/controllers/system/dc_motor.cpp b/firmware/controllers/system/dc_motor.cpp
index 4dbc6959c7..2b3db71ef8 100644
--- a/firmware/controllers/system/dc_motor.cpp
+++ b/firmware/controllers/system/dc_motor.cpp
@@ -7,6 +7,7 @@
  */
 
 #include "dc_motor.h"
+#include "pwm_generator_logic.h"
 
 TwoPinDcMotor::TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2)
     : m_enable(enable)
@@ -19,14 +20,14 @@ bool TwoPinDcMotor::isOpenDirection() const {
 	return m_value >= 0;
 }
 
-float TwoPinDcMotor::Get() const {
+float TwoPinDcMotor::get() const {
 	return m_value;
 }
 
 /**
  * @param duty value between -1.0 and 1.0
  */
-bool TwoPinDcMotor::Set(float duty)
+bool TwoPinDcMotor::set(float duty)
 {
 	m_value = duty;
 
diff --git a/firmware/controllers/system/dc_motor.h b/firmware/controllers/system/dc_motor.h
index 8c6722b123..4bcf221b54 100644
--- a/firmware/controllers/system/dc_motor.h
+++ b/firmware/controllers/system/dc_motor.h
@@ -7,8 +7,6 @@
 
 #pragma once
 
-#include "pwm_generator_logic.h"
-
 /**
  * @brief Brushed or brushless DC motor interface
  * 
@@ -23,9 +21,19 @@ public:
      * @param duty +1.0f represents full power forward, and -1.0f represents full power backward.
      * @return True if any fault was detected driving the motor, and false if successful.
      */
-    virtual bool Set(float duty) = 0;
+    virtual bool set(float duty) = 0;
+
+    /**
+     * @brief Get the current motor duty cycle.
+     * @return The current duty cycle setting. +1.0f represents full power forward, and -1.0f represents full power backward.
+     */
+    virtual float get() const = 0;
+
+    virtual bool isOpenDirection() const = 0;
 };
 
+class SimplePwm;
+
 /**
  * @brief Represents a DC motor controller (H bridge) with one pin for enable (PWM),
  * and two pins for direction control.
@@ -70,9 +78,9 @@ public:
      */
     TwoPinDcMotor(SimplePwm* enable, SimplePwm* dir1, SimplePwm* dir2);
 
-    virtual bool Set(float duty) override;
-    float Get() const;
-    bool isOpenDirection() const;
+    virtual bool set(float duty) override;
+    float get() const override;
+    bool isOpenDirection() const override;
 
-    void SetType(ControlType type) { m_type = type; }
+    void setType(ControlType type) { m_type = type; }
 };