diff --git a/hal/src/main/native/include/wpi/hal/Encoder.h b/hal/src/main/native/include/wpi/hal/Encoder.h
index 753b08d710..becd720e9a 100644
--- a/hal/src/main/native/include/wpi/hal/Encoder.h
+++ b/hal/src/main/native/include/wpi/hal/Encoder.h
@@ -18,19 +18,19 @@
  * The type of index pulse for the encoder.
  */
 HAL_ENUM(HAL_EncoderIndexingType) {
-  HAL_kResetWhileHigh,
-  HAL_kResetWhileLow,
-  HAL_kResetOnFallingEdge,
-  HAL_kResetOnRisingEdge
+  HAL_ENCODER_INDEX_RESET_WHILE_HIGH,
+  HAL_ENCODER_INDEX_RESET_WHILE_LOW,
+  HAL_ENCODER_INDEX_RESET_ON_FALLING_EDGE,
+  HAL_ENCODER_INDEX_RESET_ON_RISING_EDGE
 };
 
 /**
  * The encoding scaling of the encoder.
  */
 HAL_ENUM(HAL_EncoderEncodingType) {
-  HAL_Encoder_k1X,
-  HAL_Encoder_k2X,
-  HAL_Encoder_k4X
+  HAL_ENCODER_1X_ENCODING,
+  HAL_ENCODER_2X_ENCODING,
+  HAL_ENCODER_4X_ENCODING
 };
 
 #ifdef __cplusplus
diff --git a/hal/src/main/native/sim/Encoder.cpp b/hal/src/main/native/sim/Encoder.cpp
index 220504df81..3d786ef097 100644
--- a/hal/src/main/native/sim/Encoder.cpp
+++ b/hal/src/main/native/sim/Encoder.cpp
@@ -72,7 +72,7 @@ HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
                                         int32_t* status) {
   wpi::hal::init::CheckInit();
   HAL_Handle nativeHandle = HAL_kInvalidHandle;
-  if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
+  if (encodingType == HAL_EncoderEncodingType::HAL_ENCODER_4X_ENCODING) {
     // k4x, allocate encoder
     nativeHandle = fpgaEncoderHandles->Allocate();
   } else {
@@ -104,7 +104,7 @@ HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
   encoder->nativeHandle = nativeHandle;
   encoder->encodingType = encodingType;
   encoder->distancePerPulse = 1.0;
-  if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
+  if (encodingType == HAL_EncoderEncodingType::HAL_ENCODER_4X_ENCODING) {
     encoder->fpgaHandle = nativeHandle;
     encoder->counterHandle = HAL_kInvalidHandle;
   } else {
@@ -139,11 +139,11 @@ void HAL_SetEncoderSimDevice(HAL_EncoderHandle handle,
 
 static inline int EncodingScaleFactor(Encoder* encoder) {
   switch (encoder->encodingType) {
-    case HAL_Encoder_k1X:
+    case HAL_ENCODER_1X_ENCODING:
       return 1;
-    case HAL_Encoder_k2X:
+    case HAL_ENCODER_2X_ENCODING:
       return 2;
-    case HAL_Encoder_k4X:
+    case HAL_ENCODER_4X_ENCODING:
       return 4;
     default:
       return 0;
@@ -152,11 +152,11 @@ static inline int EncodingScaleFactor(Encoder* encoder) {
 
 static inline double DecodingScaleFactor(Encoder* encoder) {
   switch (encoder->encodingType) {
-    case HAL_Encoder_k1X:
+    case HAL_ENCODER_1X_ENCODING:
       return 1.0;
-    case HAL_Encoder_k2X:
+    case HAL_ENCODER_2X_ENCODING:
       return 0.5;
-    case HAL_Encoder_k4X:
+    case HAL_ENCODER_4X_ENCODING:
       return 0.25;
     default:
       return 0.0;
@@ -365,7 +365,7 @@ HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
   auto encoder = encoderHandles->Get(encoderHandle);
   if (encoder == nullptr) {
     *status = HAL_HANDLE_ERROR;
-    return HAL_Encoder_k4X;  // default to k4x
+    return HAL_ENCODER_4X_ENCODING;  // default to k4x
   }
 
   return encoder->encodingType;
diff --git a/hal/src/main/native/systemcore/Encoder.cpp b/hal/src/main/native/systemcore/Encoder.cpp
index 16bac36f51..c5a9a00964 100644
--- a/hal/src/main/native/systemcore/Encoder.cpp
+++ b/hal/src/main/native/systemcore/Encoder.cpp
@@ -131,7 +131,7 @@ double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
 HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
     HAL_EncoderHandle encoderHandle, int32_t* status) {
   *status = HAL_HANDLE_ERROR;
-  return HAL_Encoder_k4X;
+  return HAL_ENCODER_4X_ENCODING;
 }
 
 int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
diff --git a/robotpyExamples/Encoder/robot.py b/robotpyExamples/Encoder/robot.py
index 04941eda0c..1af63560d4 100755
--- a/robotpyExamples/Encoder/robot.py
+++ b/robotpyExamples/Encoder/robot.py
@@ -28,7 +28,7 @@ class MyRobot(wpilib.TimedRobot):
         """Robot initialization function"""
         super().__init__()
 
-        self.encoder = wpilib.Encoder(1, 2, False, wpilib.Encoder.EncodingType.k4X)
+        self.encoder = wpilib.Encoder(1, 2, False, wpilib.Encoder.EncodingType.X4)
 
         # Defines the number of samples to average when determining the rate.
         # On a quadrature encoder, values range from 1-255;
diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
index 342d30e2e8..67be57c6ca 100644
--- a/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
@@ -144,7 +144,7 @@ void Encoder::InitSendable(wpi::util::SendableBuilder& builder) {
   int32_t status = 0;
   HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
   WPILIB_CheckErrorStatus(status, "GetEncodingType");
-  if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
+  if (type == HAL_EncoderEncodingType::HAL_ENCODER_4X_ENCODING) {
     builder.SetSmartDashboardType("Quadrature Encoder");
   } else {
     builder.SetSmartDashboardType("Encoder");
@@ -169,13 +169,13 @@ void Encoder::InitEncoder(int aChannel, int bChannel, bool reverseDirection,
 
   const char* type = "Encoder";
   switch (encodingType) {
-    case k1X:
+    case EncodingType::X1:
       type = "Encoder:1x";
       break;
-    case k2X:
+    case EncodingType::X2:
       type = "Encoder:2x";
       break;
-    case k4X:
+    case EncodingType::X4:
       type = "Encoder:4x";
       break;
   }
diff --git a/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp b/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
index bff31f59de..e39562c221 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
@@ -19,7 +19,8 @@ namespace wpi {
  */
 class CounterBase {
  public:
-  enum EncodingType { k1X, k2X, k4X };
+  /** The number of edges for the CounterBase to increment or decrement on. */
+  enum class EncodingType { X1, X2, X4 };
 
   CounterBase() = default;
   virtual ~CounterBase() = default;
diff --git a/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp b/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
index e8f55f15f4..d91f6e2d2e 100644
--- a/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
@@ -44,7 +44,7 @@ class Encoder : public CounterBase,
    * @param reverseDirection represents the orientation of the encoder and
    *                         inverts the output values if necessary so forward
    *                         represents positive values.
-   * @param encodingType     either k1X, k2X, or k4X to indicate 1X, 2X or 4X
+   * @param encodingType     either X1, X2, or X4 to indicate 1X, 2X or 4X
    *                         decoding. If 4X is selected, then an encoder FPGA
    *                         object is used and the returned counts will be 4x
    *                         the encoder spec'd value since all rising and
@@ -54,7 +54,7 @@ class Encoder : public CounterBase,
    *                         be double (2x) the spec'd count.
    */
   Encoder(int aChannel, int bChannel, bool reverseDirection = false,
-          EncodingType encodingType = k4X);
+          EncodingType encodingType = EncodingType::X4);
 
   Encoder(Encoder&&) = default;
   Encoder& operator=(Encoder&&) = default;
@@ -256,7 +256,7 @@ class Encoder : public CounterBase,
    * @param bChannel         The b channel.
    * @param reverseDirection If true, counts down instead of up (this is all
    *                         relative)
-   * @param encodingType     either k1X, k2X, or k4X to indicate 1X, 2X or 4X
+   * @param encodingType     either X1, X2, or X4 to indicate 1X, 2X or 4X
    *                         decoding. If 4X is selected, then an encoder FPGA
    *                         object is used and the returned counts will be 4x
    *                         the encoder spec'd value since all rising and
diff --git a/wpilibc/src/main/python/semiwrap/Encoder.yml b/wpilibc/src/main/python/semiwrap/Encoder.yml
index 905a2b8413..c055be7d26 100644
--- a/wpilibc/src/main/python/semiwrap/Encoder.yml
+++ b/wpilibc/src/main/python/semiwrap/Encoder.yml
@@ -13,7 +13,7 @@ classes:
           int, int, bool, EncodingType:
             param_override:
               encodingType:
-                default: wpi::Encoder::EncodingType::k4X
+                default: wpi::Encoder::EncodingType::X4
           DigitalSource*, DigitalSource*, bool, EncodingType:
             ignore: true
           DigitalSource&, DigitalSource&, bool, EncodingType:
@@ -21,7 +21,7 @@ classes:
           std::shared_ptr<DigitalSource>, std::shared_ptr<DigitalSource>, bool, EncodingType:
             param_override:
               encodingType:
-                default: wpi::Encoder::EncodingType::k4X
+                default: wpi::Encoder::EncodingType::X4
       Get:
       Reset:
       GetPeriod:
diff --git a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
index aa4d1eb6ea..60d5d31311 100644
--- a/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
@@ -72,11 +72,11 @@ class Robot : public wpi::TimedRobot {
    * set this parameter to true, the direction of the encoder will  be reversed,
    * in case it makes more sense mechanically.
    *
-   * The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X)
-   * and defaults to k4X. Faster (k4X) encoding gives greater positional
+   * The final (optional) parameter specifies encoding rate (X1, X2, or X4)
+   * and defaults to X4. Faster (X4) encoding gives greater positional
    * precision but more noise in the rate.
    */
-  wpi::Encoder m_encoder{1, 2, false, wpi::Encoder::k4X};
+  wpi::Encoder m_encoder{1, 2, false, wpi::Encoder::EncodingType::X4};
 };
 
 #ifndef RUNNING_WPILIB_TESTS
diff --git a/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
index 30568f5c35..f9e0322856 100644
--- a/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
@@ -56,7 +56,7 @@ class Robot : public wpi::TimedRobot {
 
   // Initializes an encoder on DIO pins 0 and 1
   // 2X encoding and non-inverted
-  wpi::Encoder m_encoder2x{0, 1, false, wpi::Encoder::EncodingType::k2X};
+  wpi::Encoder m_encoder2x{0, 1, false, wpi::Encoder::EncodingType::X2};
 };
 
 #ifndef RUNNING_WPILIB_TESTS
diff --git a/wpilibj/src/main/java/org/wpilib/hardware/discrete/CounterBase.java b/wpilibj/src/main/java/org/wpilib/hardware/discrete/CounterBase.java
index bacad2caa3..934faec8b3 100644
--- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/CounterBase.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/CounterBase.java
@@ -16,11 +16,11 @@ public interface CounterBase {
   /** The number of edges for the CounterBase to increment or decrement on. */
   enum EncodingType {
     /** Count only the rising edge. */
-    k1X(0),
+    X1(0),
     /** Count both the rising and falling edge. */
-    k2X(1),
+    X2(1),
     /** Count rising and falling on both channels. */
-    k4X(2);
+    X4(2);
 
     /** EncodingType value. */
     public final int value;
diff --git a/wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java b/wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java
index 1004d48299..4d69a2c2f7 100644
--- a/wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java
@@ -48,9 +48,9 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
 
     String typeStr =
         switch (type) {
-          case k1X -> "Encoder:1x";
-          case k2X -> "Encoder:2x";
-          case k4X -> "Encoder:4x";
+          case X1 -> "Encoder:1x";
+          case X2 -> "Encoder:2x";
+          case X4 -> "Encoder:4x";
           default -> "Encoder";
         };
     HAL.reportUsage("IO[" + aChannel + "," + bChannel + "]", typeStr);
@@ -70,7 +70,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
    *     if necessary so forward represents positive values.
    */
   public Encoder(final int channelA, final int channelB, boolean reverseDirection) {
-    this(channelA, channelB, reverseDirection, EncodingType.k4X);
+    this(channelA, channelB, reverseDirection, EncodingType.X4);
   }
 
   /**
@@ -337,15 +337,15 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
    */
   public double getDecodingScaleFactor() {
     return switch (m_encodingType) {
-      case k1X -> 1.0;
-      case k2X -> 0.5;
-      case k4X -> 0.25;
+      case X1 -> 1.0;
+      case X2 -> 0.5;
+      case X4 -> 0.25;
     };
   }
 
   @Override
   public void initSendable(SendableBuilder builder) {
-    if (EncoderJNI.getEncoderEncodingType(m_encoder) == EncodingType.k4X.value) {
+    if (EncoderJNI.getEncoderEncodingType(m_encoder) == EncodingType.X4.value) {
       builder.setSmartDashboardType("Quadrature Encoder");
     } else {
       builder.setSmartDashboardType("Encoder");
diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/encoder/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/encoder/Robot.java
index 0bee0754a1..4085536c87 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/encoder/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/encoder/Robot.java
@@ -32,7 +32,7 @@ public class Robot extends TimedRobot {
    * defaults to k4X. Faster (k4X) encoding gives greater positional precision but more noise in the
    * rate.
    */
-  private final Encoder m_encoder = new Encoder(1, 2, false, CounterBase.EncodingType.k4X);
+  private final Encoder m_encoder = new Encoder(1, 2, false, CounterBase.EncodingType.X4);
 
   /** Called once at the beginning of the robot program. */
   public Robot() {
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoder/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoder/Robot.java
index 795b7bfe3d..3ce39d3c70 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoder/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoder/Robot.java
@@ -19,7 +19,7 @@ public class Robot extends TimedRobot {
 
   // Initializes an encoder on DIO pins 0 and 1
   // 2X encoding and non-inverted
-  Encoder m_encoder2x = new Encoder(0, 1, false, Encoder.EncodingType.k2X);
+  Encoder m_encoder2x = new Encoder(0, 1, false, Encoder.EncodingType.X2);
 
   /** Called once at the beginning of the robot program. */
   public Robot() {