diff --git a/esp32/lib/ESP32-sveltekit/Kinematics.h b/esp32/lib/ESP32-sveltekit/Kinematics.h
index 39f058f..71362b7 100644
--- a/esp32/lib/ESP32-sveltekit/Kinematics.h
+++ b/esp32/lib/ESP32-sveltekit/Kinematics.h
@@ -1,7 +1,7 @@
 #ifndef Kinematics_h
 #define Kinematics_h
 
-#include <MathUtils.h>
+#include <utils/math_utils.h>
 
 struct body_state_t {
     float omega, phi, psi, xm, ym, zm;
diff --git a/esp32/lib/ESP32-sveltekit/MotionService.h b/esp32/lib/ESP32-sveltekit/MotionService.h
index 19f4539..dfc6025 100644
--- a/esp32/lib/ESP32-sveltekit/MotionService.h
+++ b/esp32/lib/ESP32-sveltekit/MotionService.h
@@ -5,7 +5,7 @@
 #include <Kinematics.h>
 #include <peripherals/servo_controller.h>
 #include <utils/timing.h>
-#include <MathUtils.h>
+#include <utils/math_utils.h>
 
 #include <gait/state.h>
 #include <gait/crawl_state.h>
diff --git a/esp32/lib/ESP32-sveltekit/gait/bezier_state.h b/esp32/lib/ESP32-sveltekit/gait/bezier_state.h
index fecdf59..b4c27da 100644
--- a/esp32/lib/ESP32-sveltekit/gait/bezier_state.h
+++ b/esp32/lib/ESP32-sveltekit/gait/bezier_state.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <gait/state.h>
-#include <MathUtils.h>
+#include <utils/math_utils.h>
 #include <array>
 #include <functional>
 
diff --git a/esp32/lib/ESP32-sveltekit/peripherals/imu.h b/esp32/lib/ESP32-sveltekit/peripherals/imu.h
index 5b00917..978104e 100644
--- a/esp32/lib/ESP32-sveltekit/peripherals/imu.h
+++ b/esp32/lib/ESP32-sveltekit/peripherals/imu.h
@@ -5,7 +5,7 @@
 #include <SPI.h>
 #include <Wire.h>
 #include <ArduinoJson.h>
-#include <MathUtils.h>
+#include <utils/math_utils.h>
 
 #include <MPU6050_6Axis_MotionApps612.h>
 
diff --git a/esp32/lib/ESP32-sveltekit/peripherals/peripherals.h b/esp32/lib/ESP32-sveltekit/peripherals/peripherals.h
index 92a0a57..fabeada 100644
--- a/esp32/lib/ESP32-sveltekit/peripherals/peripherals.h
+++ b/esp32/lib/ESP32-sveltekit/peripherals/peripherals.h
@@ -4,7 +4,7 @@
 #include <EventEndpoint.h>
 #include <stateful_persistence.h>
 #include <stateful_service.h>
-#include <MathUtils.h>
+#include <utils/math_utils.h>
 #include <utils/timing.h>
 #include <filesystem.h>
 #include <features.h>
diff --git a/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h b/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
index 5044ab0..47af7ae 100644
--- a/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
+++ b/esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
@@ -6,7 +6,7 @@
 #include <stateful_persistence.h>
 #include <stateful_service.h>
 #include <stateful_service_endpoint.h>
-#include <MathUtils.h>
+#include <utils/math_utils.h>
 #include <settings/servo_settings.h>
 
 /*
diff --git a/esp32/lib/ESP32-sveltekit/MathUtils.h b/esp32/lib/ESP32-sveltekit/utils/math_utils.h
similarity index 100%
rename from esp32/lib/ESP32-sveltekit/MathUtils.h
rename to esp32/lib/ESP32-sveltekit/utils/math_utils.h