diff --git a/src/main.cpp b/src/main.cpp
index 9429e5d..6e96921 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -273,12 +273,8 @@ void PlanCommand(const mp::RequestMsg &rq) {
 
 void SetMode(uint8_t m) {
     mg::globals.SetMotorsMode(m != 0); // remember the last mode set
-
     // distribute the mode to all motors immediately
-    mm::MotorMode mode = (m == 0) ? mm::Normal : mm::Stealth;
-    mm::motion.SetMode(mm::Pulley, mode);
-    mm::motion.SetMode(mm::Selector, mode);
-    mm::motion.SetMode(mm::Idler, mode);
+    mm::motion.SetMode((m == 0) ? mm::Normal : mm::Stealth);
 }
 
 void ProcessRequestMsg(const mp::RequestMsg &rq) {