diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index c7465756a1cbb347f3e877e15056d8e45082931c..20b09ae4995461b34811e79cd5c53e66ffb08a66 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -20,20 +20,19 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
         Scalar radius_left;
         Scalar radius_right;
         Scalar wheel_separation;
-        unsigned int ticks_per_wheel_revolution;
+        Scalar ticks_per_wheel_revolution;
 
         Scalar radians_per_tick; ///< Not user-definable -- DO NOT PRETEND TO USE YAML TO SET THIS PARAM.
 
 
         IntrinsicsDiffDrive() = default;
-        IntrinsicsDiffDrive(std::string _unique_name,
-                                     const wolf::ParamsServer & _server) :
-                                         IntrinsicsBase(_unique_name, _server)
+        IntrinsicsDiffDrive(std::string _unique_name, const wolf::ParamsServer & _server) :
+            IntrinsicsBase(_unique_name, _server)
         {
-            radius_left                 = _server.getParam<Scalar>(_unique_name         + "/radius_left");
-            radius_right                = _server.getParam<Scalar>(_unique_name         + "/radius_right");
-            wheel_separation            = _server.getParam<Scalar>(_unique_name         + "/wheel_separation");
-            ticks_per_wheel_revolution  = _server.getParam<unsigned int>(_unique_name   + "/ticks_per_wheel_revolution");
+            radius_left                 = _server.getParam<Scalar>(_unique_name + "/radius_left");
+            radius_right                = _server.getParam<Scalar>(_unique_name + "/radius_right");
+            wheel_separation            = _server.getParam<Scalar>(_unique_name + "/wheel_separation");
+            ticks_per_wheel_revolution  = _server.getParam<Scalar>(_unique_name + "/ticks_per_wheel_revolution");
             radians_per_tick            = 2.0 * M_PI / ticks_per_wheel_revolution;
         }
         std::string print()