diff --git a/encoders/ENCODERS.md b/encoders/ENCODERS.md
index 28f9555..b9bf49e 100644
--- a/encoders/ENCODERS.md
+++ b/encoders/ENCODERS.md
@@ -61,7 +61,7 @@ class Encoder:
 
     def position(self, value=None):
         if value is not None:
-            self._pos = value // self.scale
+            self._pos = round(value / self.scale)
         return self._pos * self.scale
 ```
 If the direction is incorrect, transpose the X and Y pins in the constructor
diff --git a/encoders/encoder.py b/encoders/encoder.py
index 52bccfa..8cf6274 100644
--- a/encoders/encoder.py
+++ b/encoders/encoder.py
@@ -24,7 +24,9 @@ class Encoder:
         self.forward = self.pin_a.value() ^ self.pin_b.value() ^ self.reverse ^ 1
         self._pos += 1 if self.forward else -1
 
-    def position(self):
+    def position(self, value=None):
+        if value is not None:
+            self._pos = round(value / self.scale)
         return self._pos*self.scale
 
     def reset(self):
diff --git a/encoders/encoder_portable.py b/encoders/encoder_portable.py
index e7526fe..7e0e2c9 100644
--- a/encoders/encoder_portable.py
+++ b/encoders/encoder_portable.py
@@ -32,5 +32,5 @@ class Encoder:
 
     def position(self, value=None):
         if value is not None:
-            self._pos = value // self.scale
+            self._pos = round(value / self.scale)
         return self._pos * self.scale
diff --git a/encoders/encoder_timed.py b/encoders/encoder_timed.py
index 89018c6..d46e630 100644
--- a/encoders/encoder_timed.py
+++ b/encoders/encoder_timed.py
@@ -46,7 +46,9 @@ class EncoderTimed:
         result *= self.scale
         return result if self.forward else -result
 
-    def position(self):
+    def position(self, value=None):
+        if value is not None:
+            self._pos = round(value / self.scale)
         return self._pos * self.scale
 
     def reset(self):