diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index 0ab4cd1c..3bd00a00 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -35,7 +35,7 @@ bool Controller::select_encoder(size_t encoder_num) {
         Axis* ax = axes[encoder_num];
         if (config_.setpoints_in_cpr) {
             pos_estimate_src_ = &ax->encoder_.pos_cpr_;
-            pos_wrap_src_ = &ax->encoder_.config_.cpr;
+            pos_wrap_src_ = &config_.circular_setpoint_range;
         } else {
             pos_estimate_src_ = &ax->encoder_.pos_estimate_;
             pos_wrap_src_ = nullptr;
@@ -139,10 +139,9 @@ bool Controller::update(float* torque_setpoint_output) {
     }
 
     // TODO also enable circular deltas for 2nd order filter, etc.
-    if (pos_wrap_src_) {
-        float cpr = *pos_wrap_src_ * 2.0f * M_PI / ((float)axis_->encoder_.config_.cpr);
+    if (config_.setpoints_in_cpr) {
         // Keep pos setpoint from drifting
-        input_pos_ = fmodf_pos(input_pos_, cpr);
+        input_pos_ = fmodf_pos(input_pos_, config_.circular_setpoint_range);
     }
 
     // Update inputs
@@ -234,13 +233,12 @@ bool Controller::update(float* torque_setpoint_output) {
             return false;
         }
 
-        if (pos_wrap_src_) {
-            float cpr = *pos_wrap_src_ * 2.0f * M_PI / ((float)axis_->encoder_.config_.cpr);
+        if (config_.setpoints_in_cpr) {
             // Keep pos setpoint from drifting
-            pos_setpoint_ = fmodf_pos(pos_setpoint_, cpr);
+            pos_setpoint_ = fmodf_pos(pos_setpoint_, config_.circular_setpoint_range);
             // Circular delta
             pos_err = pos_setpoint_ - *pos_estimate_src;
-            pos_err = wrap_pm(pos_err, 0.5f * cpr);
+            pos_err = wrap_pm(pos_err, 0.5f * config_.circular_setpoint_range);
         } else {
             pos_err = pos_setpoint_ - *pos_estimate_src;
         }
diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp
index 6e2ef7f6..d866937c 100644
--- a/Firmware/MotorControl/controller.hpp
+++ b/Firmware/MotorControl/controller.hpp
@@ -30,6 +30,7 @@ public:
         float vel_ramp_rate = 2.0f * M_PI;              // [(rad/s) / s]
         float torque_ramp_rate = 0.01f;                 // Nm / sec
         bool setpoints_in_cpr = false;
+        float circular_setpoint_range = 2.0f * M_PI;    //circular space if setpoints_in_cpr is used for controller
         float inertia = 0.0f;                           // [A/(count/s^2)]
         float input_filter_bandwidth = 2.0f;            // [1/s]
         float homing_speed = 2000.0f;                   // [counts/s]
@@ -75,7 +76,7 @@ public:
     bool* pos_estimate_valid_src_ = nullptr;
     float* vel_estimate_src_ = nullptr;
     bool* vel_estimate_valid_src_ = nullptr;
-    int32_t* pos_wrap_src_ = nullptr; // enables circular position setpoints if not null. The value pointed to is the maximum position value.
+    float* pos_wrap_src_ = nullptr; // enables circular position setpoints if not null. The value pointed to is the maximum position value.
 
     float pos_setpoint_ = 0.0f; // [radians]
     float vel_setpoint_ = 0.0f; // [rad/s]
@@ -95,6 +96,9 @@ public:
 
     bool anticogging_valid_ = false;
 
+    // custom setters
+    void set_input_pos(float value) { input_pos_ = value; input_pos_updated();}
+
 };
 
 #endif // __CONTROLLER_HPP
diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 01ea8740..1dfa47de 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -522,17 +522,10 @@ bool Encoder::update() {
         snap_to_zero_vel = true;
     }
 
-<<<<<<< HEAD
     //outputs from encoder for controller
-    pos_estimate_ = pos_estimate_counts_ * 2.0f * M_PI / config_.cpr;
-    vel_estimate_ = vel_estimate_counts_ * 2.0f * M_PI / config_.cpr;
-    pos_cpr_= pos_cpr_counts_ * 2.0f * M_PI / config_.cpr;
-=======
-    //expose pos/vel estimates in radians for Controller
-    pos_est_rad_ = pos_estimate_ * 2.0f * M_PI / (float)config_.cpr;
-    vel_est_rad_ = vel_estimate_ * 2.0f * M_PI / (float)config_.cpr;
-    pos_cpr_rad_ = pos_cpr_ * 2.0f * M_PI / (float)config_.cpr;
->>>>>>> 4d920849a09d1e3368216f7786e9c1c9b9cb2ce3
+    pos_estimate_ = pos_estimate_counts_ * 2.0f * M_PI / (float)config_.cpr;
+    vel_estimate_ = vel_estimate_counts_ * 2.0f * M_PI / (float)config_.cpr;
+    pos_cpr_= pos_cpr_counts_ * 2.0f * M_PI / (float)config_.cpr;
 
     //// run encoder count interpolation
     int32_t corrected_enc = count_in_cpr_ - config_.offset;
diff --git a/docs/getting-started.md b/docs/getting-started.md
index 913f2140..bdfe8d85 100644
--- a/docs/getting-started.md
+++ b/docs/getting-started.md
@@ -334,7 +334,7 @@ In the regular position mode, the `input_pos` would grow to a very large value a
 In this mode, the controller will try to track the position within only one turn of the motor. Specifically, `input_pos` is expected in the range `[0, 2*Pi]`. If the `input_pos` is incremented to outside this range (say via step/dir input), it is automatically wrapped around into the correct value.
 Note that in this mode `encoder.pos_cpr_` is used for feedback instead of `encoder.pos_estimate`.
 
-If you try to increment the axis with a large step in one go that exceeds `Pi` steps, the motor will go to the same angle around the wrong way. This is also the case if there is a large disturbance. If you have an application where you would like to handle larger steps, you can use a virtual CPR for your encoder that is an integer times larger than your encoder's actual CPR. Set `encoder.config.cpr = N * your_enc_cpr`, where N is some integer. Choose N to give you an appropriate circular space for your application. `encoder.config.cpr` is automatically converted to radians internally.
+If you try to increment the axis with a large step in one go that exceeds `Pi` steps, the motor will go to the same angle around the wrong way. This is also the case if there is a large disturbance. If you have an application where you would like to handle larger steps, you can use a virtual CPR for your encoder that is an integer times larger than your encoder's actual CPR. Set `encoder.config.cpr = N * 2.0 * Pi`, where N is some integer. Choose N to give you an appropriate circular space for your application.
 
 ### Velocity control
 Set `axis.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL`.<br>
diff --git a/tools/odrive/tests/closed_loop_test.py b/tools/odrive/tests/closed_loop_test.py
index 2bcfa9cf..ba452135 100644
--- a/tools/odrive/tests/closed_loop_test.py
+++ b/tools/odrive/tests/closed_loop_test.py
@@ -175,7 +175,7 @@ class TestRegenProtection(TestClosedLoopControlBase):
         with self.prepare(axis_ctx, motor_ctx, enc_ctx, logger):
             nominal_rps = 15.0
             nominal_vel = 2.0 * pi * nominal_rps
-            max_current = 15.0
+            max_current = 30.0
         
             # Accept a bit of noise on Ibus
             axis_ctx.parent.handle.config.dc_max_negative_current = -0.5