diff --git a/Project_4_Distributed_Control/Part_1_Porting_controller_to_Zephyr/src/encoder.cpp b/Project_4_Distributed_Control/Part_1_Porting_controller_to_Zephyr/src/encoder.cpp
index e497e54..2e80801 100644
--- a/Project_4_Distributed_Control/Part_1_Porting_controller_to_Zephyr/src/encoder.cpp
+++ b/Project_4_Distributed_Control/Part_1_Porting_controller_to_Zephyr/src/encoder.cpp
@@ -1,22 +1,28 @@
 #include <encoder.h>
 
-#include <avr/io.h>
-#include <avr/interrupt.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/util.h>
 
-static Encoder* activeEncoder = nullptr;
+#define ENCODER_C1_NODE DT_ALIAS(encoder_c1)
+#define ENCODER_C2_NODE DT_ALIAS(encoder_c2)
 
-ISR(PCINT0_vect)
+static const struct gpio_dt_spec encoderC1 =
+    GPIO_DT_SPEC_GET(ENCODER_C1_NODE, gpios);
+
+static const struct gpio_dt_spec encoderC2 =
+    GPIO_DT_SPEC_GET(ENCODER_C2_NODE, gpios);
+
+
+
+void Encoder::callback(const struct device *port,struct gpio_callback *cb,uint32_t pins)
 {
-    if (activeEncoder != nullptr)
-    {
-        activeEncoder->update();
-    }
+    Encoder *encoder = CONTAINER_OF(cb, Encoder, gpioCallback);
+    encoder->update();
 }
 
-Encoder::Encoder(uint8_t c1Pin, uint8_t c2Pin)
-    : c1(c1Pin),
-      c2(c2Pin),
-      c1Pin(c1Pin),
+Encoder::Encoder()
+    : c1(&encoderC1),
+      c2(&encoderC2),
       previousC1(false),
       count(0)
 {
@@ -33,13 +39,13 @@ void Encoder::init()
     count = 0;
 
     // Clear pending PORTB pin-change interrupt
-    PCIFR |= (1 << PCIF0);
+    gpio_init_callback(&gpioCallback,Encoder::callback,BIT(encoderC1.pin));
 
     // Enable PORTB pin-change interrupts
-    PCICR |= (1 << PCIE0);
+    gpio_add_callback(encoderC1.port, &gpioCallback);
 
     // Enable interrupt on C1
-    PCMSK0 |= (1 << c1Pin);
+    gpio_pin_interrupt_configure_dt(&encoderC1, GPIO_INT_EDGE_BOTH);
 }
 
 void Encoder::update()
@@ -65,11 +71,9 @@ void Encoder::update()
 
 int32_t Encoder::position() const
 {
-    uint8_t oldSREG = SREG;
-
-    cli();
+    unsigned int key = irq_lock();
     int32_t currentCount = count;
-    SREG = oldSREG;
+    irq_unlock(key);
 
     return currentCount;
 }
\ No newline at end of file