diff --git a/src/proto/message_translation/power_frame_msg.hpp b/src/proto/message_translation/power_frame_msg.hpp
index f52f92f44e..3590cc9bfb 100644
--- a/src/proto/message_translation/power_frame_msg.hpp
+++ b/src/proto/message_translation/power_frame_msg.hpp
@@ -112,6 +112,20 @@ TbotsProto_PowerStatus inline createNanoPbPowerStatus(
     return status;
 }
 
+/**
+ * Calculates width of the pulse for chicker
+ * @param kick_constant The constant to use in the kick speed to pulse width conversion
+ * @param kick_coefficient The coefficient to use in the kick speed to pulse width
+ * conversion
+ * @param speed Speed of the desired kick in m/s
+ * @return Width of pulse
+ */
+inline uint32_t calculateChickerPulseWidth(int kick_constant, double kick_coefficient,
+                                           float speed)
+{
+    return static_cast<uint32_t>(kick_constant * std::exp(kick_coefficient * speed));
+}
+
 // These functions are only used in power service so they are excluded from platformio
 // Protobuf needs additional support to run on an esp32
 #ifndef PLATFORMIO_BUILD
@@ -119,6 +133,9 @@ TbotsProto_PowerStatus inline createNanoPbPowerStatus(
  * Converts a google protobuf power control msg to its nanopb representation
  *
  * @param google_control protobuf message to convert
+ * @param kick_coeff The coefficient to use for the chicker pulse width calculation
+ * @param kick_constant The constant to use in the chicker pulse width calculation
+ * @param chip_pulse_width The width of the pulse to use for the chipper
  * @return a nanopb power control msg matching provided protobuf
  */
 
@@ -139,9 +156,8 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
             nanopb_control.chicker.which_chicker_command =
                 TbotsProto_PowerPulseControl_ChickerControl_kick_pulse_width_tag;
             nanopb_control.chicker.chicker_command.kick_pulse_width =
-                static_cast<uint32_t>(
-                    kick_constant *
-                    std::exp(kick_coeff * google_control.chicker().kick_speed_m_per_s()));
+                calculateChickerPulseWidth(kick_constant, kick_coeff,
+                                           google_control.chicker().kick_speed_m_per_s());
             break;
         case TbotsProto::PowerControl::ChickerControl::kChipDistanceMeters:
             nanopb_control.chicker.which_chicker_command =
@@ -158,11 +174,11 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
                         .which_auto_chip_or_kick =
                         TbotsProto_PowerPulseControl_AutoChipOrKick_autokick_pulse_width_tag;
                     nanopb_control.chicker.chicker_command.auto_chip_or_kick
-                        .auto_chip_or_kick.autokick_pulse_width = static_cast<uint32_t>(
-                        kick_constant *
-                        std::exp(kick_coeff * google_control.chicker()
-                                                  .auto_chip_or_kick()
-                                                  .autokick_speed_m_per_s()));
+                        .auto_chip_or_kick.autokick_pulse_width =
+                        calculateChickerPulseWidth(kick_constant, kick_coeff,
+                                                   google_control.chicker()
+                                                       .auto_chip_or_kick()
+                                                       .autokick_speed_m_per_s());
                     break;
                 case TbotsProto::AutoChipOrKick::kAutochipDistanceMeters:
                     nanopb_control.chicker.chicker_command.auto_chip_or_kick