diff --git a/compLib/Encoder.py b/compLib/Encoder.py
index eddc77f..ae9c1a7 100644
--- a/compLib/Encoder.py
+++ b/compLib/Encoder.py
@@ -57,7 +57,12 @@ class Encoder(object):
             raise IndexError("Invalid encoder port specified!")
 
         encoder_start_values[port] = Encoder.read_raw(port)
-        
 
-for i in range(1, MOTOR_COUNT + 1):
-    encoder_start_values[i] = Encoder.read_raw(i)
\ No newline at end of file
+    @staticmethod
+    def clear_all():
+        """Reset all encoder positions to 0
+        """
+
+        for i in range(1, MOTOR_COUNT + 1):
+            encoder_start_values[i] = Encoder.read_raw(i)
+        
\ No newline at end of file
diff --git a/compLib/__init__.py b/compLib/__init__.py
index fa48d2a..e67ec4b 100644
--- a/compLib/__init__.py
+++ b/compLib/__init__.py
@@ -3,6 +3,7 @@ __version__ = "0.1.5-1"
 import compLib.LogstashLogging
 import compLib.Spi
 import compLib.Reset
+import compLib.Encoder
 import logging
 import apt
 
@@ -19,4 +20,5 @@ except Exception as e:
 
 compLib.Reset.Reset.reset_bot()
 compLib.Spi.Spi.health_check()
-compLib.Spi.Spi.start_health_check_loop()
\ No newline at end of file
+compLib.Spi.Spi.start_health_check_loop()
+compLib.Encoder.Encoder.clear_all()
\ No newline at end of file