From 09f81f8b3303f674d61892d3065684a7a6cb09d9 Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Thu, 2 Sep 2021 12:06:19 +0200
Subject: [PATCH] Leverage the ability of motion to SetMode to all know axes

---
 src/main.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

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) {