diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp
index 9529f82f..bd9dab63 100644
--- a/Firmware/MotorControl/controller.hpp
+++ b/Firmware/MotorControl/controller.hpp
@@ -115,10 +115,10 @@ public:
             make_protocol_property("input_pos", &input_pos_),
             make_protocol_property("input_vel", &input_vel_),
             make_protocol_property("input_current", &input_current_),
-            make_protocol_property("pos_setpoint", &pos_setpoint_),
-            make_protocol_property("vel_setpoint", &vel_setpoint_),
-            make_protocol_property("vel_integrator_current", &vel_integrator_current_),
-            make_protocol_property("current_setpoint", &current_setpoint_),
+            make_protocol_ro_property("pos_setpoint", &pos_setpoint_),
+            make_protocol_ro_property("vel_setpoint", &vel_setpoint_),
+            make_protocol_ro_property("vel_integrator_current", &vel_integrator_current_),
+            make_protocol_ro_property("current_setpoint", &current_setpoint_),
             make_protocol_object("config",
                 make_protocol_property("control_mode", &config_.control_mode),
                 make_protocol_property("input_mode", &config_.input_mode),