diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 5ff333fd..e7e8d0bb 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -97,10 +97,10 @@ void Axis::clear_config() {
     config_.can_node_id = axis_num_;
 }
 
-// @brief Sets up all components of the axis,
-// such as gate driver and encoder hardware.
+// @brief Does Nothing
 bool Axis::setup() {
-    return motor_.setup();
+    // Does nothing - Motor and encoder setup called separately.
+    return true;
 }
 
 static void run_state_machine_loop_wrapper(void* ctx) {
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index e2c5db07..645f3811 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -6,9 +6,10 @@
 #include "utils.hpp"
 #include <autogen/interfaces.hpp>
 
+
 class Encoder : public ODriveIntf::EncoderIntf {
 public:
-    const uint32_t MODE_FLAG_ABS = 0x100;
+    static constexpr uint32_t MODE_FLAG_ABS = 0x100;
 
     struct Config_t {
         Mode mode = MODE_INCREMENTAL;
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index 1befd9cf..01a37299 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -259,19 +259,28 @@ static void rtos_main(void*) {
     // must happen after communication is initialized
     pwm0_input.init();
 
-    // Set up hardware for all components
-    for (size_t i = 0; i < AXIS_COUNT; ++i) {
-        if (!axes[i].setup()) {
-            for (;;) {
-                osDelay(10); // TODO: proper error handling
-            }
+    // Set up the CS pins for absolute encoders
+    for(auto& axis : axes){
+        if(axis.encoder_.config_.mode & Encoder::MODE_FLAG_ABS){
+            axis.encoder_.abs_spi_cs_pin_init();
         }
     }
 
+    // Setup motors (DRV8301 SPI transactions here)
+    for(auto& axis : axes){
+        axis.motor_.setup();
+    }
+
+    // Setup encoders (Starts encoder SPI transactions)
     for(auto& axis : axes){
         axis.encoder_.setup();
     }
 
+    // Setup anything remaining in each axis
+    for(auto& axis : axes){
+        axis.setup();
+    }
+
     // Start PWM and enable adc interrupts/callbacks
     start_adc_pwm();