diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 6d16d914..367c464a 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -79,7 +79,7 @@ void Axis::step_cb() {
     if (step_dir_active_) {
         GPIO_PinState dir_pin = HAL_GPIO_ReadPin(dir_port_, dir_pin_);
         float dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
-        controller_.pos_setpoint_ += dir * config_.counts_per_step;
+        controller_.input_pos_ += dir * config_.counts_per_step;
     }
 };