diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index cbedb140..ab7e62eb 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -90,7 +90,7 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
 void Controller::set_input_pos_and_steps(float const pos) {
     input_pos_ = pos;
     float const range = config_.circular_setpoint_range;
-    axis_->steps_ = (int64_t)(wrap_pm(pos, range) / range * config_.steps_per_circular_range);
+    axis_->steps_ = (int64_t)(fmodf_pos(pos, range) / range * config_.steps_per_circular_range);
 }
 
 void Controller::update_filter_gains() {