diff --git a/compLib/Encoder.py b/compLib/Encoder.py
index ae9c1a7..3ede960 100644
--- a/compLib/Encoder.py
+++ b/compLib/Encoder.py
@@ -44,7 +44,11 @@ class Encoder(object):
         if port <= 0 or port > MOTOR_COUNT:
             raise IndexError("Invalid encoder port specified!")
 
-        return Encoder.read_raw(port) - encoder_start_values[port]
+        diff = Encoder.read_raw(port) - encoder_start_values[port]
+        if diff > 2 ** 31:
+            diff -= 2 ** 32
+
+        return diff
 
     @staticmethod
     def clear(port: int):