diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3ca4a7c6..ba30391a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -31,12 +31,14 @@ Before releasing:
   - Added support for getting motor fault flags (e.g. over-temperature, over-current, H-bridge faults).
   - Added support for internal motor PID tuning. Feature gated behind `dangerous_motor_tuning`, as this can cause hardware damage and is not recommended.
   - Added various constants for convenience around `Motor` and `Gearset`.
+- Added `Controller` API to the `pros::prelude` module. (#108)
 
 - `relative_size` method on `DistanceSensor` for getting a guess at an object's relative size. (#73)
 
 ### Fixed
 
 - `pros_sys` bindings to the Motors C API now takes the correct port type (`i8`) as of PROS 4 (**Breaking Change**) (#66).
+- Fixed the unintended `unsafe` context present in the `sync_robot` and `async_robot` family of macros (**Breaking Change**) (#107).
 
 ### Changed
 
@@ -53,6 +55,7 @@ Before releasing:
   - Renamed `Motor::get_state` to `Motor::status`.
 - Status structs containing device bits now use the `bitflags!` crate. (**Breaking Change**) (#66)
 - Renamed `InertialSensor::calibrating` to `InertialSensor::calibrating` (**Breaking CHange**) (#66)
+- AdiEncoder now returns `Position` rather than just degrees (**Breaking Change**) (#106).
 
 ### Removed
 
diff --git a/packages/pros-async/src/lib.rs b/packages/pros-async/src/lib.rs
index 6d1beb30..004a082f 100644
--- a/packages/pros-async/src/lib.rs
+++ b/packages/pros-async/src/lib.rs
@@ -185,8 +185,9 @@ macro_rules! async_robot {
 
         #[no_mangle]
         extern "C" fn initialize() {
+            let robot = Default::default();
             unsafe {
-                ROBOT = Some(Default::default());
+                ROBOT = Some(robot);
             }
         }
     };
@@ -195,8 +196,9 @@ macro_rules! async_robot {
 
         #[no_mangle]
         extern "C" fn initialize() {
+            let robot = $init;
             unsafe {
-                ROBOT = Some($init);
+                ROBOT = Some(robot);
             }
         }
     };
diff --git a/packages/pros-devices/src/adi/encoder.rs b/packages/pros-devices/src/adi/encoder.rs
index ee0ae8f9..da46c0d9 100644
--- a/packages/pros-devices/src/adi/encoder.rs
+++ b/packages/pros-devices/src/adi/encoder.rs
@@ -4,6 +4,7 @@ use pros_core::bail_on;
 use pros_sys::{ext_adi_encoder_t, PROS_ERR};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
+use crate::Position;
 
 /// ADI encoder device.
 /// Requires two adi ports.
@@ -49,10 +50,10 @@ impl AdiEncoder {
     }
 
     /// Gets the number of ticks recorded by the encoder.
-    pub fn position(&self) -> Result<i32, AdiError> {
-        Ok(bail_on!(PROS_ERR, unsafe {
-            pros_sys::adi_encoder_get(self.raw)
-        }))
+    pub fn position(&self) -> Result<Position, AdiError> {
+        let degrees = bail_on!(PROS_ERR, unsafe { pros_sys::adi_encoder_get(self.raw) });
+
+        Ok(Position::from_degrees(degrees as f64))
     }
 }
 
diff --git a/packages/pros-sync/src/lib.rs b/packages/pros-sync/src/lib.rs
index 6f7df18a..6c252308 100644
--- a/packages/pros-sync/src/lib.rs
+++ b/packages/pros-sync/src/lib.rs
@@ -123,8 +123,9 @@ macro_rules! sync_robot {
 
         #[no_mangle]
         extern "C" fn initialize() {
+            let robot = Default::default();
             unsafe {
-                ROBOT = Some(Default::default());
+                ROBOT = Some(robot);
             }
         }
     };
@@ -133,8 +134,9 @@ macro_rules! sync_robot {
 
         #[no_mangle]
         extern "C" fn initialize() {
+            let robot = $init;
             unsafe {
-                ROBOT = Some($init);
+                ROBOT = Some(robot);
             }
         }
     };
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index e14accd7..9f10b46f 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -97,6 +97,7 @@ pub mod prelude {
             AdiDevice, AdiPort,
         },
         color::Rgb,
+        controller::Controller,
         peripherals::{DynamicPeripherals, Peripherals},
         position::Position,
         screen::{Circle, Line, Rect, Screen, Text, TextFormat, TextPosition, TouchState},