diff --git a/src/common/base_classes/FOCMotor.h b/src/common/base_classes/FOCMotor.h
index 37c5b260..8184ad1c 100644
--- a/src/common/base_classes/FOCMotor.h
+++ b/src/common/base_classes/FOCMotor.h
@@ -24,31 +24,31 @@
 /**
  *  Motiron control type
  */
-enum MotionControlType{
-  torque,//!< Torque control
-  velocity,//!< Velocity motion control
-  angle,//!< Position/angle motion control
-  velocity_openloop,
-  angle_openloop
+enum MotionControlType : uint8_t {
+  torque            = 0x00,     //!< Torque control
+  velocity          = 0x01,     //!< Velocity motion control
+  angle             = 0x02,     //!< Position/angle motion control
+  velocity_openloop = 0x03,
+  angle_openloop    = 0x04
 };
 
 /**
  *  Motiron control type
  */
-enum TorqueControlType{
-  voltage, //!< Torque control using voltage
-  dc_current, //!< Torque control using DC current (one current magnitude)
-  foc_current //!< torque control using dq currents
+enum TorqueControlType : uint8_t { 
+  voltage            = 0x00,     //!< Torque control using voltage
+  dc_current         = 0x01,     //!< Torque control using DC current (one current magnitude)
+  foc_current        = 0x02,     //!< torque control using dq currents
 };
 
 /**
  *  FOC modulation type
  */
-enum FOCModulationType{
-  SinePWM, //!< Sinusoidal PWM modulation
-  SpaceVectorPWM, //!< Space vector modulation method
-  Trapezoid_120,
-  Trapezoid_150
+enum FOCModulationType : uint8_t {
+  SinePWM            = 0x00,     //!< Sinusoidal PWM modulation
+  SpaceVectorPWM     = 0x01,     //!< Space vector modulation method
+  Trapezoid_120      = 0x02,     
+  Trapezoid_150      = 0x03,     
 };
 
 /**
diff --git a/src/common/base_classes/Sensor.h b/src/common/base_classes/Sensor.h
index efab1be1..eb9608e8 100644
--- a/src/common/base_classes/Sensor.h
+++ b/src/common/base_classes/Sensor.h
@@ -6,19 +6,19 @@
 /**
  *  Direction structure
  */
-enum Direction{
-    CW      = 1,  //clockwise
+enum Direction : int8_t {
+    CW      = 1,  // clockwise
     CCW     = -1, // counter clockwise
-    UNKNOWN = 0   //not yet known or invalid state
+    UNKNOWN = 0   // not yet known or invalid state
 };
 
 
 /**
  *  Pullup configuration structure
  */
-enum Pullup{
-    USE_INTERN, //!< Use internal pullups
-    USE_EXTERN //!< Use external pullups
+enum Pullup : uint8_t {
+    USE_INTERN = 0x00, //!< Use internal pullups
+    USE_EXTERN = 0x01  //!< Use external pullups
 };
 
 /**
diff --git a/src/communication/Commander.h b/src/communication/Commander.h
index 018d7eb3..924d7ae5 100644
--- a/src/communication/Commander.h
+++ b/src/communication/Commander.h
@@ -12,10 +12,10 @@
 
 
 // Commander verbose display to the user type
-enum VerboseMode{
-  nothing = 0,   // display nothing - good for monitoring
-  on_request,    // display only on user request
-  user_friendly  // display textual messages to the user
+enum VerboseMode : uint8_t {
+  nothing       = 0x00, // display nothing - good for monitoring
+  on_request    = 0x01, // display only on user request
+  user_friendly = 0x02  // display textual messages to the user
 };
 
 
diff --git a/src/sensors/Encoder.h b/src/sensors/Encoder.h
index 3e775338..91427a83 100644
--- a/src/sensors/Encoder.h
+++ b/src/sensors/Encoder.h
@@ -10,9 +10,9 @@
 /**
  *  Quadrature mode configuration structure
  */
-enum Quadrature{
-  ON, //!<  Enable quadrature mode CPR = 4xPPR
-  OFF //!<  Disable quadrature mode / CPR = PPR
+enum Quadrature : uint8_t {
+  ON    = 0x00, //!<  Enable quadrature mode CPR = 4xPPR
+  OFF   = 0x01  //!<  Disable quadrature mode / CPR = PPR
 };
 
 class Encoder: public Sensor{