diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0d3fcb9..1d44683 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -130,14 +130,23 @@ include_directories(
 set(TINYMOVR_SOURCES
   src/tinymovr/can.cpp
   src/tinymovr/comms.cpp
+  src/tinymovr/commutation_sensor.cpp
   src/tinymovr/controller.cpp
   src/tinymovr/current.cpp
-  src/tinymovr/encoder.cpp
+  src/tinymovr/external_spi.cpp
+  src/tinymovr/hall.cpp
+  src/tinymovr/homing.cpp
   src/tinymovr/motor.cpp
+  src/tinymovr/onboard.cpp
+  src/tinymovr/position_sensor.cpp
   src/tinymovr/position.cpp
   src/tinymovr/scheduler.cpp
+  src/tinymovr/select.cpp
+  src/tinymovr/setup.cpp
+  src/tinymovr/stall_detect.cpp
   src/tinymovr/tinymovr.cpp
   src/tinymovr/traj_planner.cpp
+  src/tinymovr/user_frame.cpp
   src/tinymovr/velocity.cpp
   src/tinymovr/voltage.cpp
   src/tinymovr/watchdog.cpp
diff --git a/src/tm_joint_iface.cpp b/src/tm_joint_iface.cpp
index ed0d5de..5096095 100644
--- a/src/tm_joint_iface.cpp
+++ b/src/tm_joint_iface.cpp
@@ -239,7 +239,7 @@ bool TinymovrJoint::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw_nh)
     ROS_DEBUG("Asserting calibrated");
     for (int i=0; i<num_joints; i++)
     {
-        ROS_ASSERT((servos[i].encoder.get_calibrated() == true) && (servos[i].motor.get_calibrated() == true));
+        ROS_ASSERT(servos[i].get_calibrated() == true);
         ROS_DEBUG("%s ok", joint_name[i].c_str());
     }