diff --git a/src/modules/motion.h b/src/modules/motion.h
index 6163588..5bd8e34 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -288,12 +288,6 @@ public:
     bool QueueEmpty(Axis axis) const {
         return axisData[axis].ctrl.QueueEmpty();
     }
-
-    void ResetAxesData() {
-        for (uint8_t i = 0; i != NUM_AXIS; ++i) {
-            axisData[i].ctrl.SetPosition(0);
-        }
-    }
 #else
     // Force STUB for testing
     bool QueueEmpty(Axis axis) const;
diff --git a/tests/unit/modules/motion/test_motion.cpp b/tests/unit/modules/motion/test_motion.cpp
index ea2c870..a0cb811 100644
--- a/tests/unit/modules/motion/test_motion.cpp
+++ b/tests/unit/modules/motion/test_motion.cpp
@@ -28,9 +28,14 @@ ssize_t stepUntilDone(size_t maxSteps = 100000) {
 void ResetMotionSim() {
     stepUntilDone();
     REQUIRE(motion.QueueEmpty());
-    motion.ResetAxesData();
+
+    motion.SetPosition(Idler, 0);
     REQUIRE(motion.Position(Idler) == 0);
+
+    motion.SetPosition(Selector, 0);
     REQUIRE(motion.Position(Selector) == 0);
+
+    motion.SetPosition(Pulley, 0);
     REQUIRE(motion.Position(Pulley) == 0);
 }