diff --git a/src/modules/pulse_gen.cpp b/src/modules/pulse_gen.cpp
index 0510316..6aa5955 100644
--- a/src/modules/pulse_gen.cpp
+++ b/src/modules/pulse_gen.cpp
@@ -88,7 +88,7 @@ void PulseGen::CalculateTrapezoid(block_t *block, steps_t entry_speed, steps_t e
     block->final_rate = final_rate;
 }
 
-bool PulseGen::PlanMoveTo(pos_t target, rate_t feed_rate, rate_t end_rate) {
+bool PulseGen::PlanMoveTo(pos_t target, steps_t feed_rate, steps_t end_rate) {
     // Prepare to set up new block
     if (block_index.full())
         return false;
diff --git a/src/modules/pulse_gen.h b/src/modules/pulse_gen.h
index 7012342..ba6e7c6 100644
--- a/src/modules/pulse_gen.h
+++ b/src/modules/pulse_gen.h
@@ -42,7 +42,7 @@ public:
     /// @param feed_rate maximum feedrate
     /// @param end_rate endding feedrate (may not be reached!)
     /// @returns true if the move has been enqueued
-    bool PlanMoveTo(pos_t pos, rate_t feed_rate, rate_t end_rate = 0);
+    bool PlanMoveTo(pos_t pos, steps_t feed_rate, steps_t end_rate = 0);
 
     /// Stop whatever moves are being done
     /// @param halt When true, also abruptly stop axis movement.