diff --git a/ArduinoI2C/ArduinoI2C.ino b/ArduinoI2C/ArduinoI2C.ino
index 39d491a7..3a5008dd 100644
--- a/ArduinoI2C/ArduinoI2C.ino
+++ b/ArduinoI2C/ArduinoI2C.ino
@@ -51,6 +51,12 @@ void loop() {
   if (!success)
     Serial.println("error");
 
+  success = odrive::trigger<odrive::SAVE_CONFIGURATION>(odrive_num);
+  if (!success)
+    Serial.println("error");
+  else
+    Serial.println("saved config");
+
   delay(500);
 }
 
diff --git a/ArduinoI2C/odrive.h b/ArduinoI2C/odrive.h
index fb89ccb5..88680cce 100644
--- a/ArduinoI2C/odrive.h
+++ b/ArduinoI2C/odrive.h
@@ -5,12 +5,16 @@
 *   - Implement the C function I2C_transaction to provide low level I2C access.
 *   - Use read_property<PropertyId>() to read properties from the ODrive.
 *   - Use write_property<PropertyId>() to modify properties on the ODrive.
+*   - Use trigger<PropertyId>() to trigger a function (such as reboot or save_configuration)
 *   - Use endpoint_type_t<PropertyId> to retrieve the underlying type
 *     of a given property.
+*   - Refer to PropertyId for a list of available properties.
 *
-* To regenerate the interface definitions, flash an ODrive with the new
-* firmware, then run
-*   ../tools/odrivetool generate-code --output odrive_endpoints.h
+* To regenerate the interface definitions, flash an ODrive with
+* the new firmware, connect it to your PC via USB and then run
+*   ../tools/odrivetool generate-code --output [path to odrive_endpoints.h]
+* This step can be done with any ODrive, it doesn't have to be the
+* one that you'll be controlling over I2C.
 */
 
 
@@ -140,4 +144,22 @@ namespace odrive {
         return I2C_transaction(i2c_addr + num, i2c_tx_buffer, sizeof(i2c_tx_buffer), nullptr, 0);
     }
 
+    /* @brief Write to an endpoint on the ODrive
+    *
+    * Usage example:
+    *   success = odrive::trigger<odrive::SAVE_CONFIGURATION>(0);
+    *
+    * @param num Selects the ODrive. For instance the value 4 selects
+    * the ODrive that has [A2, A1, A0] connected to [VCC, GND, GND].
+    * @return true if the I2C transaction succeeded, false otherwise
+    */
+    template<int IPropertyId,
+             typename = typename std::enable_if<std::is_void<endpoint_type_t<IPropertyId>>::value>::type>
+    bool trigger(uint8_t num) {
+        uint8_t i2c_tx_buffer[4];
+        write_le<uint16_t>(i2c_tx_buffer, IPropertyId);
+        write_le<uint16_t>(i2c_tx_buffer + sizeof(i2c_tx_buffer) - 2, json_crc);
+        return I2C_transaction(i2c_addr + num, i2c_tx_buffer, sizeof(i2c_tx_buffer), nullptr, 0);
+    }
+
 }
diff --git a/ArduinoI2C/odrive_endpoints.h b/ArduinoI2C/odrive_endpoints.h
index e8e4ee98..fe5e1b30 100644
--- a/ArduinoI2C/odrive_endpoints.h
+++ b/ArduinoI2C/odrive_endpoints.h
@@ -110,6 +110,7 @@ enum {
   AXIS0__CONTROLLER__CONFIG__VEL_GAIN = 93,
   AXIS0__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN = 94,
   AXIS0__CONTROLLER__CONFIG__VEL_LIMIT = 95,
+  AXIS0__CONTROLLER__START_ANTICOGGING_CALIBRATION = 105,
   AXIS0__ENCODER__ERROR = 106,
   AXIS0__ENCODER__IS_READY = 107,
   AXIS0__ENCODER__INDEX_FOUND = 108,
@@ -197,6 +198,7 @@ enum {
   AXIS1__CONTROLLER__CONFIG__VEL_GAIN = 190,
   AXIS1__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN = 191,
   AXIS1__CONTROLLER__CONFIG__VEL_LIMIT = 192,
+  AXIS1__CONTROLLER__START_ANTICOGGING_CALIBRATION = 202,
   AXIS1__ENCODER__ERROR = 203,
   AXIS1__ENCODER__IS_READY = 204,
   AXIS1__ENCODER__INDEX_FOUND = 205,
@@ -222,6 +224,10 @@ enum {
   AXIS1__SENSORLESS_ESTIMATOR__PLL_KP = 225,
   AXIS1__SENSORLESS_ESTIMATOR__PLL_KI = 226,
   TEST_PROPERTY = 227,
+  SAVE_CONFIGURATION = 234,
+  ERASE_CONFIGURATION = 235,
+  REBOOT = 236,
+  ENTER_DFU_MODE = 237,
 };
 
 template<int I>
@@ -322,6 +328,7 @@ template<> struct endpoint_type<AXIS0__CONTROLLER__CONFIG__POS_GAIN> { typedef f
 template<> struct endpoint_type<AXIS0__CONTROLLER__CONFIG__VEL_GAIN> { typedef float type; };
 template<> struct endpoint_type<AXIS0__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN> { typedef float type; };
 template<> struct endpoint_type<AXIS0__CONTROLLER__CONFIG__VEL_LIMIT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__START_ANTICOGGING_CALIBRATION> { typedef void type; };
 template<> struct endpoint_type<AXIS0__ENCODER__ERROR> { typedef uint8_t type; };
 template<> struct endpoint_type<AXIS0__ENCODER__IS_READY> { typedef bool type; };
 template<> struct endpoint_type<AXIS0__ENCODER__INDEX_FOUND> { typedef bool type; };
@@ -409,6 +416,7 @@ template<> struct endpoint_type<AXIS1__CONTROLLER__CONFIG__POS_GAIN> { typedef f
 template<> struct endpoint_type<AXIS1__CONTROLLER__CONFIG__VEL_GAIN> { typedef float type; };
 template<> struct endpoint_type<AXIS1__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN> { typedef float type; };
 template<> struct endpoint_type<AXIS1__CONTROLLER__CONFIG__VEL_LIMIT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__START_ANTICOGGING_CALIBRATION> { typedef void type; };
 template<> struct endpoint_type<AXIS1__ENCODER__ERROR> { typedef uint8_t type; };
 template<> struct endpoint_type<AXIS1__ENCODER__IS_READY> { typedef bool type; };
 template<> struct endpoint_type<AXIS1__ENCODER__INDEX_FOUND> { typedef bool type; };
@@ -434,6 +442,10 @@ template<> struct endpoint_type<AXIS1__SENSORLESS_ESTIMATOR__PLL_VEL> { typedef
 template<> struct endpoint_type<AXIS1__SENSORLESS_ESTIMATOR__PLL_KP> { typedef float type; };
 template<> struct endpoint_type<AXIS1__SENSORLESS_ESTIMATOR__PLL_KI> { typedef float type; };
 template<> struct endpoint_type<TEST_PROPERTY> { typedef uint32_t type; };
+template<> struct endpoint_type<SAVE_CONFIGURATION> { typedef void type; };
+template<> struct endpoint_type<ERASE_CONFIGURATION> { typedef void type; };
+template<> struct endpoint_type<REBOOT> { typedef void type; };
+template<> struct endpoint_type<ENTER_DFU_MODE> { typedef void type; };
 
 
 template<int I>
@@ -441,4 +453,4 @@ using endpoint_type_t = typename endpoint_type<I>::type;
 
 }
 
-#endif __ODRIVE_ENDPOINTS_HPP
\ No newline at end of file
+#endif // __ODRIVE_ENDPOINTS_HPP
\ No newline at end of file
diff --git a/tools/odrive/code_generator.py b/tools/odrive/code_generator.py
index a3c9c096..45c01c22 100644
--- a/tools/odrive/code_generator.py
+++ b/tools/odrive/code_generator.py
@@ -13,6 +13,12 @@ def get_flat_endpoint_list(json, prefix):
                 is_property = True
             elif item['type'] in {'bool', 'float'}:
                 is_property = True
+            elif item['type'] in {'function'}:
+                if len(item.get('arguments', [])) == 0 and len(item.get('inputs', [])) == 0 and len(item.get('outputs', [])) == 0:
+                    item['type'] = 'void'
+                    is_property = True
+                else:
+                    is_property = False
             else:
                 is_property = False
             if is_property:
diff --git a/tools/odrive_header_template.h.in b/tools/odrive_header_template.h.in
index 05e96376..c07e0174 100644
--- a/tools/odrive_header_template.h.in
+++ b/tools/odrive_header_template.h.in
@@ -31,4 +31,4 @@ using endpoint_type_t = typename endpoint_type<I>::type;
 
 }
 
-#endif __ODRIVE_ENDPOINTS_HPP
+#endif // __ODRIVE_ENDPOINTS_HPP