diff --git a/include/motor-control/core/stepper_motor/motion_controller.hpp b/include/motor-control/core/stepper_motor/motion_controller.hpp
index 2f62af9a1..0cadbe550 100644
--- a/include/motor-control/core/stepper_motor/motion_controller.hpp
+++ b/include/motor-control/core/stepper_motor/motion_controller.hpp
@@ -189,7 +189,8 @@ class MotionController {
         if (hardware.is_timer_interrupt_running()) {
             hardware.request_cancel();
         }
-        disable_motor();
+        hardware.deactivate_motor();
+        hardware.activate_motor();
     }
 
     auto read_limit_switch() -> bool { return hardware.check_limit_switch(); }