message: Remove set_pos_setpoint calls
diff: @@ -86,11 +86,17 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
  config_.anticogging.cogging_map[std::clamp(config_.anticogging.index++, 0, 3600)] = vel_integrator_current_;
  }
  if (config_.anticogging.index < 3600) {
  - set_pos_setpoint(config_.anticogging.index * config_.anticogging.cogging_ratio, 0.0f, 0.0f);
  + config_.control_mode = CTRL_MODE_POSITION_CONTROL;
  + pos_setpoint_ = config_.anticogging.index * config_.anticogging.cogging_ratio;
  + vel_setpoint_ = 0.0f;
  + current_setpoint_ = 0.0f;
  return false;
  } else {
  config_.anticogging.index = 0;
  - set_pos_setpoint(0.0f, 0.0f, 0.0f); // Send the motor home
  + config_.control_mode = CTRL_MODE_POSITION_CONTROL;
  + pos_setpoint_ = 0.0f; // Send the motor home
  + vel_setpoint_ = 0.0f;
  + current_setpoint_ = 0.0f;
  config_.anticogging.use_anticogging = true; // We're good to go, enable anti-cogging
  config_.anticogging.calib_anticogging = false;
  return true;
  