diff --git a/.changesets/archive/v5.1.0/encoder-minor.md b/.changesets/archive/v5.1.0/encoder-minor.md
new file mode 100644
index 000000000..488ec206f
--- /dev/null
+++ b/.changesets/archive/v5.1.0/encoder-minor.md
@@ -0,0 +1,2 @@
+release: minor
+summary: Moved enum Direction to namespace ST-LIB, added more regex to cmake.
diff --git a/Inc/ST-LIB_LOW/Sensors/EncoderSensor/NewEncoderSensor.hpp b/Inc/ST-LIB_LOW/Sensors/EncoderSensor/NewEncoderSensor.hpp
index 7bcf98eb7..52bc7259a 100644
--- a/Inc/ST-LIB_LOW/Sensors/EncoderSensor/NewEncoderSensor.hpp
+++ b/Inc/ST-LIB_LOW/Sensors/EncoderSensor/NewEncoderSensor.hpp
@@ -9,9 +9,8 @@
 #include "C++Utilities/CppUtils.hpp"
 
 namespace ST_LIB {
-
+enum Direction : uint8_t { FORWARD = 0, BACKWARDS = 1 };
 template <typename EncoderType, size_t SAMPLES> struct EncoderSensor {
-    enum Direction : uint8_t { FORWARD = 0, BACKWARDS = 1 };
 
 private:
     constexpr static size_t WINDOW_SIZE{(SAMPLES / 2) * 2};
diff --git a/Tests/Time/encoder_test.cpp b/Tests/Time/encoder_test.cpp
index eaf3b8b13..057e05e4e 100644
--- a/Tests/Time/encoder_test.cpp
+++ b/Tests/Time/encoder_test.cpp
@@ -103,7 +103,7 @@ TEST(EncoderSensorTest, ReadTreatsEncoderInitialCounterAsZeroPosition) {
     double position = -1.0;
     double speed = -1.0;
     double acceleration = -1.0;
-    MockSensor::Direction direction = MockSensor::BACKWARDS;
+    ST_LIB::Direction direction = ST_LIB::Direction::BACKWARDS;
 
     MockSensor sensor(encoder, 0.5, 0.1, &direction, &position, &speed, &acceleration);
 
@@ -112,7 +112,7 @@ TEST(EncoderSensorTest, ReadTreatsEncoderInitialCounterAsZeroPosition) {
     EXPECT_DOUBLE_EQ(position, 0.0);
     EXPECT_DOUBLE_EQ(speed, 0.0);
     EXPECT_DOUBLE_EQ(acceleration, 0.0);
-    EXPECT_EQ(direction, MockSensor::FORWARD);
+    EXPECT_EQ(direction, ST_LIB::Direction::FORWARD);
 }
 
 TEST(EncoderSensorTest, ResetForwardsToEncoderAndClearsHistory) {
@@ -122,7 +122,7 @@ TEST(EncoderSensorTest, ResetForwardsToEncoderAndClearsHistory) {
     double position = 0.0;
     double speed = 0.0;
     double acceleration = 0.0;
-    MockSensor::Direction direction = MockSensor::BACKWARDS;
+    ST_LIB::Direction direction = ST_LIB::Direction::BACKWARDS;
 
     MockSensor sensor(encoder, 1.0, 1.0, &direction, &position, &speed, &acceleration);